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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    • @Pierre, it seems,  from the log, that you lost GPS connection during RTL.  Your Nsats dropped to zero in the middle of RTL and your ThrIn went idle upon RTL....that's why it fell like a rock  - just an observation.

      • Thanks for looking Willy.

        Actually it starts falling at line 8850 and hit the ground at line 9000, I had all the 9 sats during the crash. It's only in the wheat field that it has lost satellites. 

        We already discuss the idle ThrIn with Pedals2Paddles, it should not be as problem at RTL is supposed to control it. I am more concern about the ThrOut that was also at zero during RTL !

        • Hi Pierre.. after having a quick look at your logs I notice that twice your altitude/baro dropped below zero last one lasted the longest ..this seems to be a posible cause of your crash

    • Your throttle INPUT went to idle and your mode switch went to RTL.  Presuming you didn't do that on purpose, you probably flew out of radio range and never configured the failsafe on the radio or the flight controller.  The radio will just go to whatever it was set for at binding, which is usually idle throttle and whatever your first mode switch is.

      • Yes, RTL should control the throttle actually, so I suppose it should have ignored the idle throttle input.  The log has an RTL input TWICE actually. About a minute apart.  

      • Nop, my failsafe is configured to engage RTL flight mode only. With the exact same failsafe configuration I never had any issue like this with 3.1. When getting close from my radio range (~1,5km, here I was at 500m) I am used to have a short RTL and then I regain control but not crash...
        Isn't RTL mode is supposed to control throttle ? even if the radio send an idle throttle signal ?

        • What is your TX/RX system?

          • FrSky

            • That's what i got and I have the same problem.

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