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
fantastic video! I've made it the main video for the discussion, hope that's ok. There's a link to the earlier EKF video down in the release notes portion.
Sure, glad you liked it. I flew the mission 2 times and both times spot on, close pass worked great, reproducible and very accurate.
Manually pitch on the gimbal
I wish DIYD had a "like" button so I could "like" the first sentence in Paul's reply.
If you are using a pixhawk make sure to do an accel cal since the EKF will use both IMUs now
Dieter,
There shouldn't be any need to re-tune it or re-do the set-up. It should all carry-over from AC3.1.x. Thanks for helping with the testing!
With Pixhawk, 3.2-rc2, if I use the CLI to execute a reset, the LOG_BITMASK sets to an unkown value that can't be displayed in MP. Perhaps it's a MP bug? (my MP is 1.3.5.1 build 1.1.5267.30457).
The RAW LOG_BITMASK value is -22530
I noticed this when trying to debug why my MinimumOSD with firmware 2.4 Extra R791 won't communicate with my PixHawk.
I still haven't figured out why the minimumOSD 2.4 R791 won't work with my PixHawk (standard 2.2 firmware seems to work ok).
Rich,
The weird negative number you're seeing in the mission planner is because we don't support unsigned numbers when we communicate between the flight controller and ground station so if the top bit of the log-bitmask is set it appears as a negative number. There's a to-do item for MichaelO to add a nicer interface to set the bits without having to go into the CLI.
Sorry, no idea about the minimOSD issue at this point..
Randy,
I just found out why the MinimumOSD with the '2.4 Extra R791' wasn't working with RC2 of the Pixhawk firmware.
I had the MOSD connected to telemetry2 on the pixhawk. If I connect it to the telemetry1 port, it works ok.
I believe part of the problem is that there is no SR2_EXT_STAT for the telemetry2 port. I can't be sure of this, but it appears that the Extra R791 firmware for MOSD uses this data. I'm working with Miguel in the MOSD threads about this. Or perhaps everyone connects their MOSD to the pixhawk using a 'Y' cable and the 3DR radio on the same telemetry1 port?
Here's more data on the Minimum OSD Extra not working with PixHawk 3.2 rc2.
It seems the minimumOSD extra relies on certain settings in the SR2 registers. I'm not sure if the current default values are from the APM, where the minimumOSD shares the telemetry port with the 3DR Radio, but they are not setting the SR2 registers properly on the pixhawk and the new minimum OSD extra firmware.
It would be good if the pixhawk and minimumOSD firmware teams could coordinate to be sure the default parameters for the telemetry2 port is set correctly so that the minimumOSD will work out of the box without a lot of help (as i needed to get this working).
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