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
Andre,
An octacopter and Y6 will fly without skipping a beat even with one motor failed. A hexacopter may survive but as a minimum it will lose yaw control and it might flip and crash to it's death. There's some discussion in my links above about why a hexacopter cannot revert to being a quad and keep flying.
hello
a Okto flying with seven engines. we have tested it.
http://youtu.be/chY6cL5sTCg?list=UUThgtPn4GVmLnf0xYfH0oag
I still have rc9 loaded on mine and reset everything and tried auto tune again. It did about the same thing it did to me before. It finished the roll tuning just fine, as soon as it started pitch it tipped the front way too far and started going down. I was able to flip it to stabilize and save it. I have the log file attached.
2014-09-21 18-53-19.log
Hi George,
I am glad you didn't crash!
What happened here is on your first pitch test in autotune you lost sink in your front left motor, motor 3. Luckily it seems to resink and corrects itself before you switch to Stabilize (however autotune is in alt-hold at this point so the roll pitch controller doesn't change when you switch to stabilize).
I am guessing you are running simon K on your esc's. It also looks like you have an offset cg.
If you drop your pid's down to the defaults your may not get the same problem but it is likely to happen again so you may be better off doing a manual tune.
Sorry for the bad news.
I am running blheli and haven't had any sync issues ever since switching all my esc's to blheli and changing motor timing to high. I have done quite a few hours of bench testing with it strapped to the table and couldn't get it to go out of sync.
There is a chance that it could be the motor going bad. I believe it is the one that took a hit when it flipped after trying to land in alt hold.
I do believe the cog is off a little bit. I need to see about repositioning the battery. It is a TBS Discovery and I have the Pixhawk on the bottom plate and there isn't enough room to put the FC right on the center of gravity. I may end up moving it to the top plate. Just don't like having it all exposed up there and I like the clean look.
I flashed it back to 3.1.5 and ran the auto tune again and it completed it as normal. It did however have some front to back movement while doing the roll tune which may have something to do with that front left motor. I need to get better with reading the logs. I have two more motors as spares so I will swap it out.
How does a person, such as my self, roll back to RC 7 from RC 9? is there a respository some where of the builds? i didnt see it on Github? thanks in advance
Thor,
I'm afraid you'd need to rebuild the binaries yourself. We keep "latest", "stable" and "beta" on firmware.diydrones.com but we don't keep backups of the beta versions. The list of changes between -rc7 and -rc9 is actually very small though, the list of commits is here (it's changes between "Copter: version to AC3.2-rc7" and "Copter: version to AC3.2-rc9".
thanks Randy, i'll give the RC9 a go then, i didnt think it was so minimal as changes go.
Saqib,
Testing beta firmware definitely comes with a risk and if anybody is not comfortable with the risk of potentially losing their copter, they should definitely stay with AC3.1.5.
On the otherhand, it's also important to realise that we have a large number of flyers, copters of many different configurations and build quality flown by pilots of varying experience levels. Sadly crashes are inevitable and some times they will be firmware related but often they are hardware failures, configuration mistakes or pilot error.
Just because there is a crash, we should definitely not jump to the conclusion that it's a firmware bug.
I agree. While I honestly don't know what happened with my 'fly away' I don't think it was a fault of 3.2. I think I had a hardware failure of the gps or compass. Just a guess. It was toilet bowling and simply drifting away. It was a new M8 I only had a few flight with it. Maybe even a loose cable. Or... it's not out of the realm of possibility because I was messing with changing modes from my ground station I screwed up and missunderstood what was going on!! It was dark and it was too far away so there was a lot of room for pilot error and with the stiff breeze I only had about 15 seconds before it was out of sight. I chalk this loss up to me being foolish. Next one is getting set up with 2 gps's, two working compasses [ hope you get that code worked out ] and throttle FS! That was on my to do list. Shudda wudda cudda.
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