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
Opps guess I missed that day / page thanks Doug!
Hi Randy,
I have just did test flight with AC3.2_RC14, AMP2.52 (Internal compass), Quad-X, F330. Supper stable loiter, perfect follow-me using Droidplanner 2. Attaching, telemetry & Flash logs.
This APM & Quad is different that the previous one on which there was yawing continuous.
Rest other functions are yet to be tested.
Arducopter 3.2_RC14, APM2.52, Quad-X, F330, Follow-me OK,Telemetry ...
Arducopter 3.2_RC14, APM2.52, Quad-X, F330, Follow-me OK, Flash Log...
F330 Quad-X frame with APM2.52, Arducopter 3.2_RC14.jpg
Sandy,
The logs appear to be from AC3.1.5 flights so that's why PosHold wouldn't be available. Maybe you didn't push the "Beta Firmwares" link before uploading the firmware?
In any case, thanks for testing.
By the way, if anyone ever find that they need to do the parameter reset and it resolves problems I'd very much like to see the before and after log files (or at least the parameter files). I hear the reset thing resolves problems sometimes but it really shouldn't be necessary so I'd like to look into this.
I have a new tarot 650 too with rc12 yet, I do autotune and correct stab pitch and roll a llittle and good results, today y try with strong winds and fly well, less stable than calm day but firmly; I have 460kv motors and 15*6.5 cf props and 3s batt, but few test yet; try autotune it's great
Did you have telemetry? Just curious if seeing the correct compass heading in the HUD is a way of confirmation the orientation is correct. It would seem so..
@Thorsten,
The ErrYaw and ErrRP columns are a bit new so I don't have a good feel of where they should be but I'd guess people should be aiming for under 0.3 (=17deg error) or 0.4 (=23deg error) with occasional short lived jumps above that being ok (especially during hard maneuvers).
BTW, the ErrYaw and ErrRP are the sin of the angular errors in radians. So if you put "=degrees(asin(0.1))" into a cell in Excel you'd get the conversion from what's in the log (i.e. "0.1") to the error in degrees which is easier to understand.
Sven,
"Toiletbowling" is nearly always a compass issue. It looks like you've got an external compass and the compass-orient is "0" which is correct if using a 3DR GPS compass module.
There is certainly some interference on the compass from the motors or perhaps the compass-mot itself is causing the interference.
I'd recommend turning off compass-mot and moving the external compass away from any interference and see if it flies better.
Randy,
what is a "healthy" range for ErrRP and ErrYaw?
TIA,
Thorsten
hi developers,
I suggest small fix for mediatek gps in NMEA mode
AP_GPS_NMEA.cpp:
#define MTK_INIT_MSG \
"$PMTK314,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n" /* GGA & VTG once every fix */ \
"$PMTK330,0*2E\r\n" /* datum = WGS84 */ \
"$PMTK397,0*23\r\n" /* Set Nav Threshold (the minimum speed the GPS must be moving to update the position) to 0 m/s*/ \
"$PMTK313,1*2E\r\n" /* SBAS on */ \
"$PMTK301,2*2E\r\n" /* use SBAS data for DGPS */
in current version the sting "$PMTK397,0*23\r\n" no sends for mediatek in nmea mode. i check it with "com port spy" (usb -ftdi adapter with rx connected to gps RX line)
in my compilation i also enable NMEA protocol and disаble gimbal future for savings 7k flash for APM
now gimbals with servo is not actual - brushless have better performance and have own controller
Thanks
@Paul. it has been bought from www.csgshop.com. also has built in compass. is working great. 32 channels. (GPSS GLONASS Biedu)
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