ArduCopter 3.2.1-rc2 (release candidate #2) has completed beta testing and has been released as the official version available through the mission planner and other ground stations.
Changes from AC3.2 are listed below and in the ReleaseNotes:
1) Enhancements:
a) reduced twitch when passing Spline waypoints
b) Faster disarm after landing in Auto, Land, RTL
c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)
2) Safety Features:
a) Add desired descent rate check to reduce chance of false-positive on landing check
b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
3) Bug Fixes:
a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
c) PosHold wind compensation fix
d) prevent infinite loop with do-jump commands pointing at each other
e) pixhawk memory corruption fix when connecting via USB
f) vehicle stops at fence's alt limit in Loiter, AltHold, PosHold (as it did in AC3.1.5)
g) protect against multiple arming messages from GCS causing gyro calibratoin failure
Thanks to Raph for the video. This is actually a video from AC3.2 until we have one specific to AC3.2.1.
Replies
I suggest you use the Jamming indicator, the noiseperms and the gain numbers that are listed in the UBX 1, 2, and 3 messages. That is why we put them in the log :)
ah ok, I have 1 and 2 in my logs. interesting jamind is quite different for different flights at different places and times. guess that makes sense for how noisy an environment is. will keep an eye on it so see if its higher when i have poorer loiter performance over the next few fights. like I said I am not struggling....just wondering if its worth people who do and donlt have the inav issue comparing.
edit...sorry my jamind isnt that different....i has one log set the other way around to which y axis was used.
My jamind is about 6 and noiseperms about 100
You have to run master to have the uBX3 message in the log. It has the AGC value. We found out that evaluating the noise can be deceptive without it. For example the noiseperms value can decrease as you move a noise source closer to the GPS antenna because the AGC on the receiver actually decreases at the same time.
Sorry, my message was truncated
I have edited it now.
I don't understand, what is ma?
The use of a ground plane has been very effective in reducing equipment noise on other GPS configurations.
I don't mean to ask a question you could write a book about but what is a ground plane. Thx
I couldn't write a book... but I could read one (big smile, small chuckle).
The groundplane can be a simple as a DIY copper sheet for mounting the GPS.
Here's an article that provides a bit of detail.
This article does not show clearly where is the ground wire soldered to on the GPS module? They say the "aluminum cage" !? What is the "aluminum cage" ?
Cool thanks Steve. I have 1.5" copper tape I might simply put it on the bottom of my gps. Can't hurt.
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