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)

Randy,

What about Rally points? As I told you, it no work and when it's set it cause RTL behaviour! (AC3.2Rc3 PIXHAWK, and I check release notes for AC3.2Rc4....)

Condition YAW absolute ok but relative no work.(if I set 90° relative, copter only achieve 30-45°, I thinks issue for condition yaw relative is due to use current yaw at intant when Condition YAW is invoked..I think that for condition yaw relative work finly, is better to calculate relative yaw from the expected yaw between 2 waypoints, what do you think?

For pause auto-mission, it works, but there is possible to move current waypoint number variable to eeprom? like this even when copter no finish big mission due battery level, and auto invoke rtl and land and we change batteries (reboot), when we restart mission, automatically copter go to waypoint targeted just before rtl?

also I noticed that when switch back to auto mission mode after having paused, all the functions such as do_set or condition_ commands are not reactivated, it would be possible to ensure that all (or the last ones) of the do_set_ and conditon_ be before current waypoint be reprocessed when switching back to automission?

Regarding RC4 and direct throttle feedback from pilot thr input before takeoff in LOITER ALHOLD POSHOLD no work.....Just little difference with RC3 is that when pilot star to up throttle, RC4 step up by 10% throttle off motors, and take off when pilot throttle input goes up by 50%, So no direct feedback before take off like dji...

Replies

- - Developer
    
    Randy > Michael August 3, 2014 at 5:22pm
    
    Thanks for the testing. I'll check the auto-disarm feature for the althold, loiter, etc flight modes.
    
    For the other issue, a dataflash log file would be a great help.
    - Roque CANALES > Randy August 4, 2014 at 12:55am
      
      Randy, You want the log files? about rally point, condition YAW?
      
      And what about idea for pause automission improvement? what do you think?
  - Artem > Michael August 3, 2014 at 1:09pm
    
    Yes, noticed that too. Does your tri "pulsate" in alt hold?
    - Michael > Artem August 3, 2014 at 4:02pm
      
      Hello Artem. I'm not seeing any pulsating in alt hold.
Balloon August 2, 2014 at 9:45pm

Randy,

Before day, I had test RC4 (Stabilize, ALT Hold, Loiter, PosHold, Auto, Guided, RTL) with EKF is very perfect. But, I have problem is no auto disarmed when have battery failsafe with itself when down to land. I need move throttle down for disarmed after it have to land.
- Developer
  
  Randy > Balloon August 3, 2014 at 5:19pm
  
  Balloon,
  
  Thanks for the report. I think that's always been the behaviour even with AC3.1.5... when the vehicle lands it requires the pilot to put the throttle to zero before disarming, The only time this doesn't apply is during a radio/throttle failsafe because the pilot has no control of the throttle.
Mike Feldmann August 2, 2014 at 2:22pm

Got a weird one with betas rc3 and rc4. DIY hex, all 3DR components including PPM encoder btw, older Futaba radio. Flew well with everything including and prior to rc2. Now getting funky motor behavior, won't complete ESC cal, did all individually, seemed ok, when armed only 2, or 4 will spin. Did ALL set ups and calibrations, power cycles, many times, no go with rc3 and rc4... It will arm but don't get the last 2 beeps. Only 2, sometimes 4, motors will spin. Redid ESC cals, full set ups, many many times. With no changes after loading rc3 or 4, etc, then reverting back to rc2 and 3.1.5, it works very well. PPM issue?
This reply was deleted.
- Developer
  
  Randy August 4, 2014 at 5:52am
  
  Phil,
  
  Thanks for the report. The one re the yaw is just as you say, it's using the current heading instead of the target. There's even a to-do in the code about it so this is fairly easy to sort out.
  
  As for why RTL is getting stuck, I've looked at the logs but haven't figured it out quite yet.
Roque CANALES August 2, 2014 at 5:53am

Randy,

What about Rally points? As I told you, it no work and when it's set it cause RTL behaviour! (AC3.2Rc3 PIXHAWK, and I check release notes for AC3.2Rc4....)

Condition YAW absolute ok but relative no work.(if I set 90° relative, copter only achieve 30-45°, I thinks issue for condition yaw relative is due to use current yaw at intant when Condition YAW is invoked..I think that for condition yaw relative work finly, is better to calculate relative yaw from the expected yaw between 2 waypoints, what do you think?

For pause auto-mission, it works, but there is possible to move current waypoint number variable to eeprom? like this even when copter no finish big mission due battery level, and auto invoke rtl and land and we change batteries (reboot), when we restart mission, automatically copter go to waypoint targeted just before rtl?

also I noticed that when switch back to auto mission mode after having paused, all the functions such as do_set or condition_ commands are not reactivated, it would be possible to ensure that all (or the last ones) of the do_set_ and conditon_ be before current waypoint be reprocessed when switching back to automission?

Regarding RC4 and direct throttle feedback from pilot thr input before takeoff in LOITER ALHOLD POSHOLD no work.....Just little difference with RC3 is that when pilot star to up throttle, RC4 step up by 10% throttle off motors, and take off when pilot throttle input goes up by 50%, So no direct feedback before take off like dji...
This reply was deleted.
- Richard (DK) August 2, 2014 at 4:21am
  
  Only for Pixhawk board
  
  https://github.com/diydrones/ardupilot/pull/1266

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This reply was deleted.

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ArduCopter-3.2 beta testing

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