Developer

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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Replies

                  • About the hybrid loiter issue, I've found something in the WPNav and PosControl files related to new init_xy_controller function.

                    I'll inform Randy to try the fix and let you know once ready.

          • did you notice the Mid Stick Launch problem with Alt Hold and Loiter as well? i believe this was one of the issues FW 3.2 was to address and correct, that take off in LOITER or ALT  HOLD would behave like take off in Stabilize mode.  thanks in advance

            • Just tried Loiter, yea looks like mid stick there too...flew like crap but we have lots  of wind today so I can't be sure if that was it.  The mid stick take off is not near as concerning as the fly away in Hybrid.  I attached the loiter take off log here.

              2014-05-13 10-37-24.log

              • Now that i look on the list, that appears to be on there, ITEM #6 so i will assume they are getting to it in their GINORMOUOS list of things to do. so i will sit back and be patient.

                • Well says smoother take off but noting about mid stick so may be different, i.e. between 10% and mid stick.

              • Thanks Edgar, thats disappointing news, i thought that was one of the major steps to bring it more in line with NAZA or SUPERX, it was one of the enhancements i was looking forward to. thanks again for checking it out

        • I will say I fly waypoints and loiter almost every time I fly for about a year never seen a single issue with the compass so I really doubt its that.  But Ill try again today sometime.

    • Here are the logs, I rolled back to 3.1.4 to get them, then went up to 3.2 rc1 and I am getting the exact same as above.

      Anyhow I got the logs, back to the initial issue, changed to GPS mode and it flew away from me,

      2014-05-12 18-54-40.log

      • Edgar, go to the first page of this thread and Randy has posted how to get them from the flight data screen.

This reply was deleted.

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