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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steve October 14, 2014 at 3:20pm

Randy, do you mind taking a look at my message on the previous page. I'm thinking it's an auto landing triggered by GPS but am not sure that is showing up in the log. It's never happened before. Only with rc12. Did some checking get more strict on GPS health in rc12? Up until rc10 I never had this happen.
TheMightyThor October 14, 2014 at 3:02pm

Could some one explain the Altitude Parameter on the DO_SET_ROI please? if Spline Waypoint 1 is 10 M and SET_ROI is 8m and Spline Waypoint 3 is 10 M will that produce a Dip in altitude? or is that parameter largely ignored? Also still trying to Clarify the Cicle Radius if it is in deed meters or centimeters. The Mission Planner Full params Shows it as Meters.

thanks in advance having a great time flying RC 10, just upgraded everything to RC12 and hoping for a sunny weekend. KUDOS all around Dev Team!!
- Developer
  
  Bill Bonney > TheMightyThor October 14, 2014 at 3:28pm
  
  Circle Radius is in cm (older FW it's in m)
  
  const AP_Param::GroupInfo AC_Circle::var_info[] PROGMEM = {
  // @Param: RADIUS
  // @DisplayName: Circle Radius
  // @Description: Defines the radius of the circle the vehicle will fly when in Circle flight mode
  // @Units: cm
  // @Range: 0 10000
  // @Increment: 100
  // @User: Standard
  AP_GROUPINFO("RADIUS", 0, AC_Circle, _radius, AC_CIRCLE_RADIUS_DEFAULT),
  - TheMightyThor > Bill Bonney October 14, 2014 at 3:40pm
    
    i currently have the newest Beta Mission Planner and RC12
    - TheMightyThor > TheMightyThor October 14, 2014 at 3:53pm
      
      i can now certifiably confirm i am losing my mind. i know it said meters in the Circle Radius because i changed it to 10 m. when i reconnected from 1.3.10.4 Mission Planner to double check i Now see in Mission planner 1.3.10.4 i see cm. dont get old people, senility is close behind :P
      
      Now if i can just get the DO_SET_ROI Altitude parameters question answred, i will go off quietly to my rock and ribbet with the frogs and drool :P
      - Luis Vale Gonçalves > TheMightyThor October 14, 2014 at 3:59pm
        
        LoL
        
        don't worry you won't be alone :) reserve me a spot :)
        
        https://groups.google.com/forum/#!topic/drones-discuss/B09cI-XTASA
        
        And in my case Mission Planner does not retrieve the descriptions correctly. So APM Planner on the Mac it is.....
        
        Google Groups
        
        Google Groups allows you to create and participate in online forums and email-based groups with a rich experience for community conversations.
Raph October 14, 2014 at 8:46am

video taken a couple weeks ago in Hawaii with 3.2rc5 (Y6, pixhawk)
- Doug Walmsley > Raph October 14, 2014 at 11:19am
  
  Excellent cinematography! Was your gimbal setup 2 axis or 3 axis?
  - Raph > Doug Walmsley October 14, 2014 at 12:21pm
    
    thank you! it's 3 axis (DYS gimbal). I don't know if it's the Y6, but with a 2axis yaw just never was solid enough.. even on calm days.
Roque CANALES October 14, 2014 at 2:19am

Randy,

Could you please tell about log détails regarding EKF and AHRS?

Also When arming whitout GPS, what home position drone take?

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ArduCopter-3.2 beta testing

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