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ArduCopter-3.2 beta testing

Posted by Randy on May 11, 2014 at 7:45pm

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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Tags: 32, arducopter, beta, testing
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      • Willy Fernandez > Christian July 1, 2014 at 4:00pm

        Hi Christian, Thanks.  i really don't know because warning #2 says "if two spline waypoints are created one on top of the other". In my case, the waypoints are far from each other. Anyway, they might be related and hopefully fixed in rc3.

  • John Dennings June 30, 2014 at 3:57pm

    > here is comparison of LEA6(red) and M8N(blue) (behind the house)

    wow ... amazing. I am assuming HDOPs also followed that trend.

     

    So just to be sure, you used the M8N from csgshop with "stock" GPS+glonass antenna?

    I wonder how the M7N will compare to the M8N with upgraded GLONAss antenna, in the US ...

    • Christian > John Dennings June 30, 2014 at 9:13pm

      sorry forgot hdop. yes stock antenna from csg.

      3702502685?profile=originalLEA6(red) and M8N(green)

      • John Dennings > Christian June 30, 2014 at 10:33pm

        Outstanding ...

        Thanks for posting these logs.

  • Christian June 30, 2014 at 1:45pm

    So if you like football, 3.2 can do the ball game too, otherwise trimming the hedge :-)

    Randy, did you investigate that glitch behaviour happened in your youtube video?

  • Christian June 30, 2014 at 12:09pm

    Raph I got the same error during log download over mavlink.

    Wow there are so many Mavlink Bad Packet (crc fail) messages in debug console... now I know why connecting via mavlink is sow slow since I use a pixhawk. APM has no problems. Fast connection as usual. My SiK firmware is 1.6.

    Marco had same issue some weeks ago:

    http://youtu.be/ZrihdM0txdw

    Somebody said:

    "If you untick ECC on both modules that should solve the issue.."

    So I'm going to test that tomorrow.. Hopefully this is not caused by serialport or gps settings.

  • Christian June 30, 2014 at 11:43am

    Hi

    here is comparison of LEA6(red) and M8N(blue) (behind the house)

    LEA6 setting: GPS_TYPE=2(ublox); connected to GPS port; factory settings overided by pixhawk boot

    M8N setting: GPS_TYPE2=2(ublox); connected to Serial4/5; didn't check if overided, but elevation set to 10°, SBAS off

    3701771120?profile=original

  • Ravi June 30, 2014 at 2:41am

    @terry, i meant the digikey antenna. sparkfun was written inadvertently.

  • RSM_LI June 29, 2014 at 9:46am

    When i use the pixhawk testing 3.2rc2 i found two bug 

    1.Running 3.2rc2 without any peripherals, just use usb connect pixhawk.than pixhawk running good and leds hand yellow double flash.But after a period of time,leds stop flash and FMU froze.If i connect full of peripherals(Safe key,GPS,Power module),it just running gread,and never froze again.

    2.When the Channel 7 or 8 choose AutoTune, and then use the mission planner do radio calibration pixhawk froze.

    sorry my English is not so well, all those use google translation.

    • Christian > RSM_LI June 30, 2014 at 12:37pm

      hi,

      1. I've only seen pixhawk freezes when GPS or other UART(Rx/Tx) devices were connected in reverse(Tx/Rx). So I can't imagine the reason, perhaps it could hang if an auto detection routine went into time-out if nothing was detected.

      2. maybe you reversed RC-in and SBUS input? It would be great if you could upload a picture of your wiring.

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