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
Hi Randy...just a basic question -The data flash logs can be downloaded via Mavlink but can't be cleared. how can we clear or erase the logs in APM with AC 3.2? Will the new log overwrites the old log? Thanks and regards.
I wonder does this have connection with restrictions?
I just have test upload firmware 3.1.5-rc1. It can compassmotor is success and no problem. I hope twitched is without when climb and move is use in RTL, Auto and Guided mode in 3.2-rc2.
Compassmot is done with CLI in terminal window or in normal window in mission plane(the one with graph)?..sorry to ask without trying myself but my multi is not at hand...
After a few tuning steps works fine in stabilize, alt hold, loiter, auto on my 3dr Y6,
But yaw speed in drift mode is much too slow. (Don´t laugh at me, I´m not an experienced RC-Pilot and flying around and landing is quite easy in drift mode).
Yaw speed in stabilize mode etc is good.
I tried to change ATC_Rate_Y_max and ATC_SLEW_YAW with no success.
Hubertus,
Yes, a few people have said that we've gone too far in the acceleration limiting so we need to get those parameters all defaulting so it feels very close to AC3.1. For yaw we also capped the maximum yaw angle to 10 degrees so you may find that increasing the Stab Yaw P value helps. Leonard has a fix to our angle calculation so that that cap is no longer required but we hadn't decided yet whether that was required for AC3.2 or whether it could wait for AC3.3. Maybe try increasing Stab Yaw P and if that doesn't help we will up the priority on Leonard's fix.
Randy,
Thank you. I tried to increase Stab Yaw P to it´s max with no effect on yaw speed in drift mode. Complete turn takes more than 12 sec. Are there other parameters i can play with?
but in drift mode, your left stick does not do anything . right ? you should use pitch and tilt only. drift takes care of the yaw automatically.
http://copter.ardupilot.com/wiki/drift-mode/
"You use the left stick primarily for altitude control but not for yaw directly."
Basically in Drift, you need to move forward and tilt to turn.
12 seconds?! Something must be seriously wrong then. Can you attach a dataflash log file?
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