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
thanks for the tip Randy, I will consider it. By the way, is writing on EEPROM permanent? I mean if I filled it up in time, is there a way that I can still modify the contents i have written on it?
Ed,
Thanks for the reports, I thought we'd added that safety feature in AC3.2 already so I'll have a look.
I'd like to THANK the Developers for giving me the ability to get this footage at The Zombie Run at the Guardian Disaster Center In Perry Georgia https://www.youtube.com/watch?v=7wNAc3v8JGU
Pomaroli,
I tested the back-flips in the simulator with ACRO_TRAINING set to 1 and using the same ACRO_RP_P and ATC_RATE_RP_MAX and ATC_RATE_Y_MAX as appeared in your logs. I wasn't able to make the [simulated] vehicle fail while doing back-flips even if they occured soon after rolls. I also tested recovering in stabilize mode while the vehicle was inverted. The only thing I found is that with ACRO_TRAINING = 1 (which automatically levels the vehicle if you remove your hands from the stick) the backflips are quite messy because it starts auto-leveling the roll while the vehicle is inverted. So as the vehicle becomes inverted during the back-flip, the roll suddenly becomes -180deg and it starts trying to bring that back to zero. This makes the vehicle start rolling instead of cleaning completing the flip. During rolls this doesn't happen because the pitch is unaffected by the roll.
So it was all a bit messy but nothing catastrophic happened in the simulator.
I found out the hard way that the log_bitmask is a 2's complement value, not an unsigned value. Had me confused for a while some time back, till I found that out.
Why is it a signed value ??
Martin
Martin,
We've never added support for unsigned parameters although it's somewhere amongst the 350+ other items on the to-do list. In -rc13 the LOG_BITMASK parameter has been extended to be a 32bit number instead of a 16bit number and the highest bit is not used so the weird negative numbers aren't required anymore. When I tested it was still possible to use the negative numbers it just sets a whole mess of unused bits to "1".
Randy,
Is the list of values for LOG_BITMASK parameter actual?
http://copter.ardupilot.com/wiki/arducopter-parameters/#Log_bitmask...
Mariusz,
Yes that's the latest list of LOG_BITMASK parameters. They're mostly unchanged from AC3.1.5 except that the last two options "Nearly All" and "All+DisarmedLogging" have been added. The mission planner should pick up these new values at some point. When it does is a bit out of my control. I think it's possible to force the refresh of parameter options by going to the flight data screen, press Ctrl-F and push the paramgen button, wait about 2minutes and restart MP.
Randy, thank you for the confirmation.
Copy&paste error from AP_NavEKF.h to AP_NavEKF.cpp
Git search 'AP_Float _gpsNEVelVarAccScale'
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