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
The only thing better than kkflashtool is RapidFlash (Chrome app)..
Hello
I know the problem, it is not the software Simon, K, it is the ESC makes the problems. I fly pixhawk ESC with Simon, K for over a year with no problems
Small issue with AC3.2-rc1: I have some pitch twitching whenever I go to RTL. Not much, just short, seemingly periodical twitches. Only pitch, not roll.
In the attached log you can see that both pitch and desired pitch twitched in RTL. GPS HDOP was fine, no fluctuation there.
Also, the copter doesn't seem quite as stable as with 3.1.x. On straight descents, it's really noticeable. And even if there's just a slight wind, the copter is not perfectly horizontal in stabilize mode.
I had to re-autotune and finetune with 3.2 however, and now the pitch PIDs are quite a bit higher than before, and now it's almost a 3:1 ratio between pitch and roll whereas previously it was 2:1. So maybe the problem isn't 3.2-rc1 after all - but I have no clue.
Fabian,
Unfortunately I'm getting a 'permission denied' error when trying to download your logs..
I still have 3.2RC1 on two of my Quads from when I downloaded during the short time it was available. Besides the normal bets risks, any reason why I can't continue testing?
Thanks JEFF
Odd. Let's try that again.
2014-05-25 19-31-23.log
Is there any headway on improving the optical flow?
Jonathan,
Not much (although not zero). We have a couple of pieces of the puzzle but they're not connected.
The problem with the older mouse-based optical flow sensor is not that there's anything wrong with the sensor but rather that it's never been properly integrated into regular flight modes like Loiter.
PaulR who developed the Extended Kalman Filter (EKF) with Tridge has the math side of the integration done (i think) so that the optical flow data is incorporated into the EKF but the EKF only runs on the Pixhawk and the old mouse sensor has never had a driver written for the Pixhawk (and the sensors are hard to find now). So Paul is looking to use the PX4Flow sensor but needs someone (i.e. Tridge or I most likely) to write a driver so the PX4Flow is useable in ArduCopter/ArduPlane/ArduRover.
Thanks Randy,
So what your saying is that for the APM the optical flow is as good as its going to get and all future development for the OF is going on the Pixhawk? (but not using the mouse sensor)
To be frank.. I feel the optical flow sensor is old business with the coming of the LIDAR-Lite sensor. I think however that the DEVs should roll the Sonar, Optical Flow and LIDAR into one ticket and develop support which covers all three hardware options.
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