ArduCopter-3.2 beta testing

Warning #1: PX4/Pixhawk users upgrading from AC3.1.5 (or earlier) may need to re-do their compass and accelerometer calibration because AC3.2 also uses the backup compass and accels.  Pre-arm checks have been added to ensure this has been done.

Warning #2: on the APM2.x the logs must be downloaded using MAVlink instead of the terminal.

AC3.2-rc14 is now available for BetaTesters through the mission planner’s Beta Firmwares link.  The full release notes can be found in ReleaseNotes.txt and changes from -rc13 can be seen below.

     Feel free to raise issues found during testing on this discussion or in the new support section in the APM Forum.

     It’s a big release with “the onion” restructure and a bunch of new features (including these 57 closed items) so we need to re-test almost everything including all flight modes, all mission commands and all the new features.  Marco and I will be maintaining (and adding to) this testing list.  Issues reported will first be checked by Jonathan, Marco and I and then confirmed bugs/issues will be put on the github issues list (and then hopefully fixed).

     Thanks especially to the beta testers who put their copters at risk testing each release.  Enjoy!

Changes from 3.2-rc13
1) Safety Features:
     a) fail to arm if second gyro calibration fails (can be disabled with ARMING_CHECK)
2) Bug fixes:
    a) DCM-check to require one continuous second of bad heading before triggering LAND
    b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy
    c) reset DCM and EKF gyro bias estimates after gyro calibration (DCM heading could drift after takeoff due to sudden change in gyro values)
    d) use primary GPS for LED status (instead of always using first GPS)

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      • Updated Mission Planner to last version and found new compassmot function and setting for logs in standard mavlink screen (no CLI). For erase/reset I understand that we must wait for new MP version...but it is not a big problem. Great!

  • great many options...

  • Randy, Thank you for update 

     Tomorrow, If i have free time. I maybe have test it.


  • Developer

    We need your test, fly safe and leave your report, thank you!
    What could potentially create significant differences compared to the 3.1 is "EKF" and "Onion", so first do your tests at low altitude for Stabilize, Acro, Alt-Hold and Loiter (in this sequence).
    One thing at a time, star and verify the "Stabilize" mode and see if the quad is stable, if so switch in Alt-Hold and see if the quad is properly locked in height, if all is ok switch in Loiter and check if all is ok.
    If this three mode are well tuned it's time to check the other (Auto, etc.).

    • Thanks Marco.
      ...charging my lipo's now! 

      ...testing list now ready.

      ...let's fly!

  • Time to test this new firmware. Thanks Devteam!

  • Sweet!  Can you adjust RC_FEEL_RP via channel 6?

  • Thank you all ! Great team and great work! I have just upgraded the firmware but no time to test.

    Excellant !


    • Hi Randy,

      individual motor test: is it automatic (only to try correct spin motor direction) or it can allow me to control throttle manual every individually motor ? (for example to do individually dynamic balance motor/propeller)

      Ciao - Giuseppe

      • Developer


             The method that's implemented in the mission planner only spins the motors at a low level (13% i think) for a short time.  The arducopter side is very simple though and it does allow the ground station to spin the motor at whatever speed it wants for as long as it wants so it's really up to the ground station developers.  The mission planner issues list is here.  I can't comment on when MichaelO would get to the request of course, that's up to him.

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