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
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..
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 ?
flew hexacopter with pixhawk AC3.1.2 Tarot 960 frame. enabled EKF. i noticed small twitches when in pure loiter mode. these jitters are not found when in pure stabilize modes. will fly again with EKF disabled. needless to say that flying is great with AC3.2 rc2. cheers to team AC!
I've notice small amount of position adjustment when switching from Loiter to Hybrid flight mode.
Randy, I just read about a change that concerns me
7) Mission improvements:
a) mission will be resumed from last active command when pilot switches out and then back into Auto mode (prev behaviour can be restored by setting MIS_RESTART param to 1)
If this would have happened to me when I did a long mission 3 months ago I would have lost my quad as it would have been past line of site and got stuck out there going from last waypoint and last signal.
Heres what I mean, I have a switch failsafe that puts my switch to RTL anytime radio contact is lost, so if its say a mile out over the empty forest and lost radio it will change to RTL, then when my radio comes back into range the Auto will be enguaged sending it back to waypoint 10 since I would not have known and my switch would be in auto still, then if signal is lost again it will come back till it gets signal again and so on, sounds like this could cause an endless loop scenario far away from my view. I know going to waypoint 1 could also do that but I always put waypoint one near me just to protect against this.
I know, change to "Continue Mission" and it "should" continue even if the failsafe switch kicks in because you added the delay that was supposed to fix it, but I can tell you that I have seen that not work, I reported it and logged it but got no reply.
Also what if someone did not have continue mission checked and had preset RTL when out of range, then I believe they may go from RTL> Auto > RTL > Auto in a loop
Feel free to correct me if wrong.
Thanks, Ed,
Ed,
Thanks for bringing this up. Yes, I see what you mean, and indeed that situation is possible. I guess we really need to get to the bottom of why the recommended failsafe setup didn't work. With the recommended set-up arducopter has full control of the vehicle during failsafe instead of having the responsibility split between the radio receiver and arducopter.
In the short-term I'd say you can set the MIS_RESTART parameter to 1 to get back to the AC3.1.5 behaviour.
Randy,
I use ezuhf receivers on my APM and Pixhawk. When these go to failsafe, they are programmed to switch channel 5 to RTL mode.
The issue is that the RTL solution in the APM/pixhawk detecting throttle position yields the exact same undesirable behavior as switching channel 5 to RTL. What happens in practice is that the the failsafe condition does not latch. At extreme range, the receivers will switch in and out of RTL every 2-3 seconds and you need to be able to detect this either through seeing the OSD mode change or through the data link seeing the mode change.
We need the autopilot to latch in RTL mode and require some sort of unique switch combinations to return to normal use. Otherwise, the autopilot will get switched between RTL and other modes when receivers are at the limits of their range and essentially stuck there.
In practice today, if you need to fly an auto mission beyond radio range, you need to do it with the failsafe in your receiver set to select auto mode... launch and turn your transmitter off. Otherwise you will get stuck at radio max range switching between auto and RTL regardless of whether you use throttle detection or channel 5 mode selection.
I think we need RTL to latch and then be unset with a series of switch positons (i.e. mode to something other than RTL and channel 7 to something specific)
Thanks for all you do.
Steve
Steve
TY Randy,
Here is the topic I posted, I had logs and complete information, one time you can see your fix worked, second time it did not. If this would have been firmware 3.2 I may have lost my quad forever on the second run as it may have looped until the battery died. http://diydrones.com/group/arducopterusergroup/forum/topics/still-r...
You can see the section "Second time not so much, loss signal, RTL, restart, possible endless loop' But lucky my loop was back to WP1 where I could see the Disco and took over, as you see I was deep into the forest over a heavily fortified river guarded by gators :)
One person I talked to said shut off the controller right after launch on a long Auto to prevent this, this way all the presets are already in their position, not sure thats a good idea but better than losing my Disco.
I am def going to change MIS_RESTART parameter to 1, id actually rather it go back to home than WP1 if this happens, just in case i forget to set wp1 in visual range, is there a way to go back home instead of WP1?
Thanks again, Ed,
Autotune
Did anything change in autotune? I tuned my large quad that I had never autotuned before and now it wobbles and surges during mission descents and accelerations.
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