ArduCopter-3.2 beta testing

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)

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                  • I use one on my 680 class hex. The Pixhawk is firmly mounted to it with double sided servo tape and the mount itself is attached to the frame with double sided servo tape and a zip tie. The props are also very carefully balanced.

                    Acc X, Y, and Z are from the IMU in the 3DR GPS, Acc X, Y, and Z R are from the Pixhawk.


                  • Moderator

                    Yeah, I'm sure if you browse around you'll find a lot of opinions on how to reduce vibration levels using a wide variety of methods. And some of them make a lot of sense. However I don't think there is any one system that works in all situations. Vibration dampening needs to be tuned to the freqency of the vibrations you are trying to filter. Someone using high kv motors and smaller props is going to see much higher frequency vibrations than someone using lower kv motors and larger props. That said, I have heard some good things about that type of mount that make me think it might be a good system. One thing to note though, you are still mounting the FC using double sided tape :)

                    The one constant however is if you can identify the source of the vibration and remove it your better off than isolating the FC from the vibration alone.


                    Nathaniel ~KD2DEY

                • +1

                  Large tape isn't recommended. Just use small pieces at each corner. That should be it...

  • Not sure if someone has answered this question but, how do I speedup follow me? Searched a lot and still have no answer yet.

    • Developer
      Run faster!
      Or set the Way point nav speed higher.
      • Run faster!

        Yep.. I lol'd

      • Haha, I bet the legs will be the limit!!

  • I have been running FW 3.1.5 for some time with no problems. Updated to FW 3.2, now accelerometers will not calibrate.  At one point I received error msg: Failed to Level: AC 22.0.37 + is required.  However, I haven't received this msg since that one time. Any suggestions?  Larry

    • Note: I went back and installed FW 3.1 and Accel Calibration works fine.  I see in the Introduction that "AC3.2 also uses the backup compass and accels" but i'm not sure what that means or even how it affects my situation. What's up?

      • Moderator

        I have had the same problem with a brand new AP out the box, the calibration is just skipped through and then it says fail. I was thinking it was a mission planner problem.

This reply was deleted.


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Aug 25