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 Erik,
I don't trust either of these tunes because the D terms are started very high, especially in the RC5 version. Could you please repeat the autotune with the Pitch and Roll D terms set to 0.004 and P terms set to 0.1 and I terms 0.1 and Stab P terms 4.5. Make sure the copter is stable before doing autotune!!!
When you do the two tests could you please make sure they both have the same starting points.
Thanks for your help!!
Hi Leonard,
And hereby the requested log's with both the same starting PID values.
Both V3.15 and V3.20 RC5 behaved as expected, and tuned well.
Am I right in reading the ATUN values that each last line of a tuning session (Axis 0, and 1) the found optimal values would need to end up in the PID settings of Roll (Axis 0) and PID settings of Pitch (Axis 1) ?
So at line 47558 it finished the Roll tuning with RPGain 0.07999 -> Rate-Roll P & I, and the RDGain 0.085 -> Rate-Roll D, and SPGain 14,5 should end up in Stabilize Roll P ?
And of course the same on Pitch from last line in Axis 1 tuning?
Thanks in advance..
Erik
2014-08-31 18-47-49 Autotune-v320-RC5.bin
2014-08-31 20-10-13 Autotune-v315.bin
If you check the word file, you'll see that the ending value's are indeed close to what you are specifying..
The last screenshot gives a RATE_RLL_D of 0.00849999, and a RATE_PIT_D of 0.015 which are the results of the Auto-tune session...
This is a log screen dump of a flight directly following the auto-tune flights....
Are you saying you need to prep these values before attempting auto tune ?
I had a crash based on the D value's being too low, so as soon as it started to oscillate due to wind or an RTL command, it couldn't recover from that.
That's probably why my starting value's (pre tune) are higher as you specified...
Post tune the copter is flying perfect however...
But I'll give it a shot as soon as the wind drops here, it's to windy at this moment..
Erik
Just upload RC6 to Pixhawk, but Poshold mode is missing during mode setup in Mission Planner 1.3.9.
Loaded up 3.2-rc6 on my Pixhawk today. Flew well even with no auto_tune done yet. Loiter was solid (now that I solved my compass setting issue), and RTL was fine like it was with the APM 2.6.
I let RTL land it three times and had no issues, repositioning on the decent worked fine.
Have not looked at the log yet, but I have downloaded it.
I'll do an auto_tune during the week if the weather is OK. Then try throwing it about harder.
Martin
ArduCopter-3.2-rc6 is now available through the Mission Planner’s Beta Firmware link. The changes can be seen in the Release Notes but they’re also copied below.
ArduCopter 3.2-rc6 31-Aug-2014, Changes from 3.2-rc5:
1) Spline twitch when passing through a waypoint largely resolved
2) THR_DZ param added to allow user configuration of throttle deadzone during AltHold, Loiter, PosHold
3) Landing check made more strict (climb rate must be -40~40cm/s for 1 full second)
4) LAND_REPOSITION param default set to 1
5) TradHeli with flybar passes through pilot inputs directly to swash when in ACRO mode
6) Safety Items:
a) EKF check disabled when using inertial nav (caused too many false positives)
b) pre-arm check of internal vs external compass direction (must be within 45deg of each other)
7) Bug Fixes:
a) resolve NaN in angle targets when vehicle hits gimbal lock in ACRO mode
b) resolve GPS driver buffer overflow that could lead to missed GPS messages on Pixhawk/PX4 boards
c) resolve false "compass not calibrated" warnings on Pixhawk/PX4 caused by missing device id initialisation
All feedback welcome. In particular I’d like it if people could take-off and landings in AltHold, Loiter, PosHold modes. The stricter landing check should be consistent with AC3.1.5 but if you’ve been flying with earlier AC3.2 release candidates you might find it more strict that you’d like.
Randy,
I wanted to confirm landing and taking off in althold, poshold and loiter all works well. We are having 15 to 20mph winds with gusts up to 30mph and it did great considering. I had to recalibrate compass and accel after flashing rc6 from rc5. I could not get it to arm without doing so.
George, Martin,
Thanks for the reports. I certainly hope after we fixed that init bug in the compass driver that this will be the last time you're forced to re-do the compass calibration. By the way, MichaelO has dramatically reduced the strictness of the compass calibration in the next version of mission planner. I'm able to calibrate now in about 300 point... i haven't tested whether the accuracy has been sacrificed at all but I suspect it'll be ok.
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