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
Graham,
I'm afraid Change Alt doesn't work in AC3.2. The issue is that we were not sure how it should be used in AUTO mode and remember there are many possible commands that could be running so we'd need to figure it out for each one.
Loiter and PosHold are really pilot controlled modes so I'm not sure it makes sense to add support in those modes. It could be supported in Guided mode but guided mode already supports position requests from the GCS and if the GCS sets the lat and lon to zero then it will do the same as a change-alt request.
Edit: I've added a to-do item to the list here.
"DJI S900" with "APM Copter V3.2" (Pixhawk board and M8N gps)... what do we want more? ;-)
Marco, question about retracts, is there a way to automate retracts in AC? like is there a parameter or a trick (lika a camera function) to use to automate retracts on RTL? I want to make my retracts to go down on the final descend of the RTL and right away on any Failsafe. Is it possible? IMHO, making a dedicated retract control would be a good goal for AC3.2.1 or AC3.2.5
Yes, it's very impressive, but the most impressive is that Randy and his dev team succeed is that people like mine (not experienced, living on the other side of the world) can fly a cheap cuad easily, not only the code is great, the instructions and explanations, videos, etc. are very clear for inexperience people and non english native language like me; sometimes is not easy to teach what you know. Congratulations Guys :)
Marco,
Nice work, and very Stable.
Pomaroli,
Ok, thanks for the report, I'll have a look.
Re the crashes you saw while back-flipping in ACRO mode and recovering in Stabilize mode while the vehicle was inverted, I spent a few hours today testing flips in the simulator and I could not get it to act badly. This doesn't guarantee there's no software issue in these situations but I couldn't find anything anyway.
Pomaroli,
No I didn't check with Acro Trainer, I'll give that a try.
I've found and fixed the CH6 tuning for wp-speed and it'll go out with -rc13. Thanks for that report!
I too have had issues with my MinimOSD module not interfacing with the Pixhawk. My solution was to unplug and replug power to get the two to synch up. Wish there was a feature in Pixhawk that checks for OSD interface and if it's not there, then it automatically performs a reinitialization until the two are talking. It should be that way for the 3DR radio as well.
Does the Pixhawk send data to OSD blindly or does it receive ACK from OSD?
I've had issues too. Had to revert minimOSD to early firmware to get it to work on Pixhawk. Suspect late miniOSD firmware bug.
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