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
Adolpho, I am in the same situation as you. I have a QR-X350 frame, with an APM and after autotuning, notice also has wobbles when descending (special in Auto).
Any idea how to fix it?
Adolfo,
Normally it's the rate roll/pitch P values that are most critical to get right.
Thomas,
Ok, the vehicle is definitely having problems with the take-off! I think it's one of two possible problems:
1. we do not reset the target position during the short period between when the vehicle is put into AUTO flight mode and when the pilot raises the throttle. During this period the position can move a bit and it can lead to the vehicle trying hard to correct this horizontal position error immediately as it takes off. It the logs, it's clear it's asking for a 20+ degree lean angle immediately.
This immediate request of 20deg is a known issue (related to this one) so I'll try and fix it for AC3.2 although this will lead to another release candidate.
I think AC3.1.5 has the same issue although I have not compared their behaviour in this particular situation.
For the CH6 tuning, it looks like the TUNE parameter is set to zero...
Christoffer,
It would be better to increase the MOT_SPIN_ARMED parameter rather than increase the trim on the transmitter. I think different ESCs have different sized deadbands at the bottom so the mot-spin-armed parameter can be increased or decreased so that the props spin but not too fast.
Me too, I have an Aurora too
Randy,
I loaded rc10 onto my IRIS, and have flown about a dozen test flights.
I've tested Stabilize, Loiter, Hybrid, Sport (lots of fun!), Auto, RTL, and all are working perfectly.
All modes were tried both with, and without EKF.
EKF seems to really smooth out transitions between modes, with less twitch.
Auto missions were flown with spline waypoints, ROI, and Survey.
Auto flights were nice and smooth, with the landing particularly impressive.
So smooth, and touchdown was as gentle as can be!
So go ahead and give yourself and the other Devs a big pat on the back, for a job very well done indeed!
Thank you for your hard work!
Jon,
Thanks a lot for the extensive testing and feedback. Sport mode is one in particular that isn't flown much so great to hear that it worked well.
Hi stubugs,
EKF stands for "Extended Kalman Filter" already implemented in the arduplane and now with this new upcoming update also implemented in arducopter.
Finding attached some info HERE
You can optionally switch on and off the EKF if you like with ch7 or 8
Hope I could help you.
Best regards, Robert
I updated my cuad to 3.2 rc10, erasing all and recalibrating all things,there was a strong wind today but stabilize, Loiter and Alt hold works well using loiter jerk at 500, the ontly problem I have is failsafe, other releases I have RTL in fligth mode 1, I be shure to have FS throttle enable to but, when I shut down the TX the APM changes to mode 5 (Loiter in my case), can you help me? I don't know were is my mistake Thank's for all the work in this great release.
. APM 2.5 3DR and a Hitec Aurora Transmitter.
Solved: I had to redo receiver Fsafe
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