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)
Replies
Hello
a gentle descent with an empty battery is not possible.
the copter out of control.
the log is OK
I see a typo, I do jump would. WP12 on the WP2.
but why the loss of control?
RX Failsafe set correctly on RX and APM ??
Looks like some awesome improvements on the way, and I'm especially excited about Drift mode with altitude control.
If you have sonar installed will it be used here?
Have been testing 3.2rc2 on my Tricopter for a couple of flights. I can conclude following: Stabilize is just fine, AltHold as well! Hybrid and Drift mode is showing real promise, but
1. I have real problems with "toilet bowling" during Hybrid. Today, I did a very short initial test, and concluded the problem remains even after re-calibrating compass. I have rised the APM away from power cabling approx 40mm, typical total amp is 15-20 Amps 50-60mm under the APM. I will run the analysis, but I had Loiter working fine with less distance on 3.1.4 before. In the attached log, there is a short duration of Hybrid mode after takeoff in Stabilize, then AltHold, then Hybrid. I flipped back to AltHold after a few seconds to prevent it from spinning out of control in circles. I will reflash with 3.1.5 and re-test as soon as I get good weather again.
2. Drift mode is really really slow at turning with default settings. Someone else wrote it took 12 seconds, and I have to concur with this. I didn't time it, but making a 180 degree turn takes a LOT of space and patience. Forward/back pitch speed is fine. Apart from that, the idea is great! Is there any parameter we can tune for now, or just wait for rc3?
In the attached log, I performed an Autotune that successfully completed in about 5 minutes. After landing and disarming, accepting the new PID settings, I armed and took off again. After approx 3 more minutes flight, battery failsafe kicked in. The battery was getting low at 10.5V (3S) and I had drained appox 1950mAh from the 2200mAh battery (yes, current and voltage sensor has been calibrated), but still should have had power left to land at this stage. Instead, the copter went straight down in the ground at a sharp angle. Any ideas?
2014-06-02_21-34.zip
Thanks for the quick reply! Here's a compass/mot calibration I did just now. Maybe not completely stellar, but well below the max 30% recommended value? Do you still believe this to explain the toilet bowling?
I have an external compass board on order, so I will install that as soon as I get it. But, I was running the APM board closer to the main power wiring on 3.1.4, with most certainly worse interference than now, and Loiter and RTL was working really really well.
Thanks for the advise on battery capacity. I have changed settings to a more conservative reserve of 400mAh capacity and 10.5V level to activate battery fail-safe modes now.
Roger,
it's possible to get toilet bowling even if the compass interference from the motors is zero. This happens if the reading from the compass is inaccurate either because the compass is mechanically crooked or if the compass offsets are wrong.
A quick way to do a reality check on the compass is to look at the magnetic heading on the flight data screen live in mission planner while lining up the craft with a nearby road or building that shows up on the map. The magnetic heading needs to be right to within a few degrees. Check the alignment with a road or building for 0 - 90 -180 -270 degrees by rotating the craft while keeping it level and seeing if when you line it up with a road, the heading line on mission planner matches . If it looks good, tilt the craft as it would be in forward flight (say 30 degrees forward tilt) and see if the headings still match the real world.
If the headings shown on the mission planner map diverge from reality by more than a few degrees re run the compass calibration. It's important to do the calibration rotations as close as you can to a constant speed.
You can also change the offsets manually to get them line up with the real world on the mission planner map.
Steve
Here is the earlier day with a very slow Drift turn, and more Hybrid testing. Here the Hybrid mode is active longer, and you can see it whirling around at an ever increasing speed. Sure, this usually stems from a compass issue. But it still puzzles me. Maybe I should re-flash with 3.1.5 and check Loiter mode again.
2014-06-01 18-27-07.zip
Pixhawk with 3.2 rc2.
Using new DJI E300 ESCs and motors.
Note that the rotors do not spin when pre-arm with the safety switch.
If I use the motor test, I must increase the throttle to about 18% before the motors will spin. Is this expected or is there a calibration or other setting missing?
The DJI Opto 30A + 2212 (former Set) don´t spin as well, just a very small move. Same thing with Flyduino SimonK ESC. At former AC same behavior. I am happy with that ;-) Why do you need this ?
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