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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    • I had this bug too. Turn the power off and than on again usually fix this problem... sometimes - twice full off/on.

      SR setup was as it is at AC manual.

  • Flight Report ArduCopter-3.2-rc12 take-off
    Hardware: apm2.5
    This is a report of testing against ArduCopter-3.2-rc12 take-off
    I run AUTO mode take off。

    When I take off. Four rotor aircraft suddenly tumbling, I tested 50 times to take off, 10 times, crash damage.
    Test 1: MOT_SPIN_ARMED = 0 test 20 times rollover damage four times,
    Test 2: MOT_SPIN_ARMED = 70, 130, 150 Test 20 times, 7 times in which the roll is damaged.
    Test 3: After unlocking, moving aircraft, took off again in automatic mode, still roll.
    ch3in (throttle) off more smoothly in 1137, but the lack of power, after the roll over more easily damaged.

  • Hi. Setting up RC12 on a Pixhawk, I have enabled the FrSky telemetry protocol on Serial2 and it works tremendously well.

    However, the GPS coordinates being shown seem a bit odd.

    For instance, at -37.717520, 144.931725

    Frsky telemetry reports E 14455.9042, S 3743.0512

    This would appear to be a slightly awkward representation degrees and decimal minutes.

    Wouldn't decimal degrees have somewhat better precision with the limited number of digits? As well as being familiar and reassuring and a bit easier to use :-)


    • How did you connect the pixhawk to the FrSky receiver? is it connected directly or through a teensy/arduino?

      What FrSky receiver did you use?

    • ouch,

      I might have done something wrong here. I tested that thoroughly though ...

      Do you have a log from opentx or do you see that only on the telemetry screen ?

      I will retest as soon as I have 2 mins .

      Thanks a lot for testing.

      Edit : I really struggle to follow this forum, let's move Frsky telem to ardupilot (tapatalk compatible) forum:

      • This is what is shown on the Frsky FLD-01 and within ER9X telemetry screens on my Turnigy 9x. I have not tried opentx.

  • Randy, please tell me what ATC* parameters will be default for AC3.2 ?

    Will it be like AC3.2rc9:



    • Developer


      Sure, these three will all default to zero.

      ATC_ACCEL_RP_MAX = 0
      ATC_ACCEL_Y_MAX = 0
      ATC_RATE_FF_ENAB = 0

      Leonard Hall would know best but I think the reason is that we were worried that with the feed-forward on (the last param listed) it would be possible for people to flip their copters if the Rate Roll/Pitch P value was set too high.  I think we want to add in some additional protection to ensure the feed forward never leads to a situation where the vehicle rotates so fast that it can't stop before it reaches it's angular limits.

      For the accel limiting (the top two params in the list), we found some people really liked it while others said it made the vehicle sluggish.  I think we decided that for now we would leave the defaults as they were in AC3.1.5 until we're more sure what everyone wants.

      • I wrote aboute some big overshots before. Is was at APC SF 1038 props and setup:

        ATC_ACCEL_RP_MAX = 126000
        ATC_ACCEL_Y_MAX = 36000
        ATC_RATE_FF_ENAB = 1

        RC_FEEL_RP = 75

        the overshoots was also at

        ATC_ACCEL_RP_MAX = 0
        ATC_ACCEL_Y_MAX = 0
        ATC_RATE_FF_ENAB = 0

        RC_FEEL_RP = 0

        But when I did set another props APC SF 1047 the same PIDs there was no overshoots anymore. This setup was good for active fly but too sharp to make soft video. So my nowdays setup is:

        ATC_ACCEL_RP_MAX = 0
        ATC_ACCEL_Y_MAX = 0
        ATC_RATE_FF_ENAB = 1

        RC_FEEL_RP = 100

        It is very good and have no overshoots.

        ATC_RATE_FF_ENAB = 0 is too sluggish.

        So ATC_RATE_FF_ENAB = 0 do not fix this problem - just do it softer. AC3.2 needs some more corrections with ATC algirithms because it is not sutable for Some props setup.... maybe at AC3.3 ...

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