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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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              • I don't know if everyone does this or not but I found that it's better to do the calibration over the telemetry link rather than with the USB plugged in.

                With the USB plugged in I found that it tugged one side of the board (APM 2.6) while I was doing the calibrations which led to weird wanderings once I put the quad up in the air.

                I got sloppy back when we didn't care so much about vibration dampening and that carried over to the newer firmware that does care. ;)

                -Mike

                • Yes, I noticed that as well..you end up wrap in cable....

                  Btw I like new graphic when do Live compass calibration,no time limit,and it depends on you how many reference points...I got some 400...

                  • Whoa! I tried to fill up the complete sphere! Got 2400 point or there about.. LOL

            • how is it ever possible to level the board with the frame, especially with FLEXIBLE mounts?

              • also flexible mounts should be exactly the same size...and be less flexible...simple test for how good is your antivibration material is;you drop same object to it and if does not bouce up high ,material is good...ideal would be if object does not bounce at all,but soak in and stay that way......

              • You make 2 carry board,one on top of another,for Pixhawk in the middle and level with your frame,and than you don't use this flexi foam but something like moongel or another flat material....and than you make "sandwich" where Pix will sit in the middle of two boards leveled with them and also leveled to a frame, sandwich will also help to reduce vibrations, bcs. APM or Pix itself is to light and even wind can move it....how to do it with all connectors?i don't know

                p.s. sorry for my English..

                • your English is fine dont worry.

                  ill say again - the board doesnt have to be 100% level with the frame, a small deviation does not matter. this is calibrated in the "calibrate level" function.

                  • if your multi leans toward one side, it may mean that the Pix is not placed on the center of gravity.

                  • Hm...how does your multi start to rise?is it 100% vertical or its leaning toward one side?that's the sign of Pix not leveled with frame I think...

  • Tried 3.2-rc2 on my quad today (PX4 + PX4IO). There's a problem determining the altitude of the quad. When I enable EKF the reported altitude is 15000 and when I disable EKF the altitude remains at a steady 0. Even after waiting 10 minutes this doesn't change. GPS-status is ok in both cases.

    I flew a short while in stab, althold and loiter, only without EKF. Althold and loiter made the quad rise a little. That made me aware of the altitude issue. Stabilize did just fine.

    I can see in Mission Planner's status tab the barometer's pressure reading is ok

    Attached: tlog, (flight starts at about 67%)  and the bin log of the flight. EKF-enable is done by ch8-in

    Previous version FW 3.1.5 on this quad is doing a beautiful job

    Did anyone already try 3.2rc2 on a PX4 ?

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