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

  • Whats actually stoping this coming out of beta, If i understand correctly it is to do with bugs?

    Really want the new hybrid/poshold mode!

    Are there still bugs?

    • Developer

      Luke,

      There are a few issues still:

      • INAV/EKF check's are perhaps too strict meaning it's switching to LAND mode even though inertial nav or the extended kalman filter is still functioning properly.
      • Traditional Helicopter has some enhancements that need to go in.

      There are also some more issues still on the to-do list for AC3.2 but I think they will instead slip to AC3.3.

      • I'm using APM2.6 with rc5 and the more aggressive I fly, the more I see it going into land mode. I also see the EKF alert in MP. Where can I relax those checks? Also the RTL is still yawing home before rising. Very jarring when you are doing FPV and running away from home ;-)

  • Hi Randy and Team,

    Any idea what causing the CW motors are spinning faster than CCW that causing Extreme Yaw on take off?

    Complete problem describe here : DIYDrones Forum and APM Forum

    3691144951?profile=original

  • i am unable to download the log on rc5 too
    • Developer

      Ibrahim,

           You're using the download via mavlink as described here?  Which board and frame are you using?

           Txs for the report.

      • I am using apm 2.6 board on a quadcopter.

        I was able to download the log on 3.1.5.  After loading 3.2 rc5 fw on terminal screen when i click the connect button it give me some words like calibrating etc etc. When i click log download button i don't see numbers on left. 

        • Developer

          Ibrahim,

          Ok, so the cli was removed for the APM2 to free up flash space.  If you follow the directions for downloading via MAVLink it should work.

          I'll add a note in the main part of this discussion above because this has caught a number of people.

  • APM 3.2-rc5: Didn't had the courage to try a mission. 

    Stabilize, Alt hold, Loiter: Ok.

    Unable to download log from apm using USB cable. (with -rc5)?

    So limits a lot possible understanding of what is happening..

    Henri

    • Developer

      Henri,

           Which board (i.e. APM2) and frame type (i.e. Quad) re you using?  It's working for me on an APM2.6 running quad software.

This reply was deleted.

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