Developer

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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Replies

  • I loaded latest FW 3.2-rc3 into my Pixhawk yesterday with EKF on and flew the x4 3dr quad multiple times with stabilize, hybrid, auto, guided, circles and RTLs without any incidences.. Landings in RTL shut off perfectly.. The stuttering in auto was gone.. I did notice minor and rare jerks in auto.. Subjectively the flights were very much improved with confidence.. Thanks, all..

    • Loaded the "latest" AC 3.2-rc3 into APM. After several flights,  I am please to report that Stabilize, Alt-Hold, PosHold Modes were great! Flying in Auto mode was so smooth even in changing altitudes between spline waypoints. Region of interest works so well....it's fun to watch. Nice Job!...Many thanks and appreciation to all of you. Enjoy!

    • Edward how did you get rc3, I don't see it in MP beta yet?

      Thanks, Ed,

  • checked today and AC3.2-rc3 on APM also is freezing up after code is loaded

  • Testing 3.2 rc2

    Any reason why RTL and Loiter work great but Hybrid mode starts to drift (ie. doesn't seem to lock properly on gps). I'm using a Taranis and have confirmed my trims are centered. I did use auto trim to adjust the internal trims. Could this be throwing off the apm sensing my sticks are centered? If so, I was under the assumption the apm would adjust what it perceived as "no stick input" based on its auto trim. 

  • I'm looking forward to trying rc3 in a few days on a small 250 quad I'm completing. I am also modifying an 800 quad and installing a Pixhawk. I have a ballistic chute that I want to use and 8 b) above mentions parachute support. I can't find anything on how this is implemented so could you please direct me to a relevant thread or documentation?   

This reply was deleted.

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