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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    • Developer


          A dataflash log would be much better than a tlog.  The dataflash logs have much higher rates.

      • Ok this is all I could find as far as dataflash. I'm not sure how to read them so I don't even know if this was with 3.2 or not. This was all that showed up when I hooked up to USB.

        2014-05-30 20-29-17.log.gpx

        2014-05-31 15-51-33 81.log

        • This log is 3.1.5 and very short, I think it's not the right one.

        • Here is a video of the GoogleEarth FPV view. 

          And after I rebuilt the quad and put 3.1.5 back on it I did zero calibration and it flew just fine. No ESC's were damaged, no motors were damaged, GPS has good lock. What in the world went wrong?

          2014-05-30 20-19-25.tlog.kmz

  • Just got 3.2 rc2 loaded on my pixhawk quad and noticed something curious. 

    Just testing on the bench, never armed and took off, but I set EKF to channel 8 and toggled it while monitoring in Mission Planner.  With EKF off, the compass heading was pointed in the correct direction.  As soon as I turned EKF on the compass heading jumped 160degrees pointing it almost completely in the wrong direction.  Got me nervous that could happen while airborne causing unexpected results.. anyone noticed anything like that? Does EKF just need to have an armed bird to be accurate..


    • Hi Steve D,


      This last weekend after rebuilding my Y6 3 times based on 3.2 rc2, I rolled back my firmware to 3.1.5 offical release.

      My problem stemmed from my Y6 upon liftoff, seriously hard pitching up and slamming into the ground.  Upon rebuilding and replacing busted parts, I performed a eeprom wipe and reloaded firmware and conducted a wizard setup/calibration.  Liftoff and the exact same problem, pitched backwards and slammed into the ground.  Third attempt after rebuild, I decided to bench test my copter and discovered that flight controls were not being received at low RPM (Didn't observe the PWM value) but needless to say it did it a few more times.  All compass calibrations were within exceptable limits.  Not sure why but rc2 has issues.

      Conclussion:  Rolled back firmware and aircraft responded as it should...Stable. 

      • Hi Doug,

        Did you get a reply or find a resolution?  I seem to get the same behaviour when trying to install 3.2rc2.

        First arm, OK all looks good and controls working.


        Rearm, No controls at low RPM, Throttle very jumpy, ramps up very quickly no low RPM control. Absolutely no Pitch, Yaw or Roll control but Stabilize will adjust motors if I manually tilt the frame.

        Recalibrate everything, Checked all settings. No change.

        Roll back to 3.1.5,All good and flys great.

        Stock 3DR Y6B with Pixhawk.

    • When I turn on EKF, my difference is about 20° in the beginning, and the horizon is tilted as well. But after a while, there is no difference anymore.

      Looks like EKF Warmup ;-) (I first thought my ACC calibration was messed up, did it again two times)

      In flight I just noticed a short little tilt, after switching, but thats it. I am using it the whole flight. 3 hours so far, no complaints @PIXHAWK@F450.

      Btw,. Julien &Team. Thx a lot for Hybrid, which is my favourite flight mode :-)

    • That means you have a bad compass offset. did you try to recalibrate your compass again?

      • Interesting, I will try the compass calibration again.. Isn't it odd though that with EKF Off the compass is 100% accurate, and doing nothing except enabling the EKF that the compass becomes 160 degrees off..  I would think if the offset was bad it would be inaccurate whether ekf was on or off..


This reply was deleted.


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