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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  • Can I take off the arducopter from the roof of my house and land on ground in autonomous mode ?

    While auto landing will it not shut down the motors when the altitude will be in minus as compared with the takeoff location from the rooftop ?

    I have been using F450 & F330 X-Quad frames with APM2.6 and uBlox 6M GPS + Compass.



    • Remebrer, pilot repositioning while landing is disabled by default on 3.2, if you want to enable it, set LAND_REPOSITION = 1 

    • Developer

      Like Julien says it'll be fine.  The only issue you'll probably see is that it will slow it's descent to the LAND_SPEED (defaults to 50cm/s) the moment land starts and the vehicle is under 10m above home.  Because the vehicle is always below home it will immediately switch to 50cm/s descent (which is probably fine).

      It won't work so well taking off from the ground and landing on the roof because it will land at the WP_SPEED_DN speed (defaults to 150cm/s).  The way to get around this is to reduce the WP_SPEED_DN to something like 75cm/s or to install a sonar.  It will slow to the LAND_SPEED while landing as soon as the sonar senses something.

      • Thanks Randy, Julien

    • Land detector relies on climb rate and not

  • Hi Guys 

    I know this is off topic but thought you might like the info I tested three motors using a power supply at a steady 24volts and using an Afro HV 20 amp esc. Amps recorded with a Turnigy watt meter and confirmed with my lab meter, All motors running a 15 x 5.5 carbon prop..  all tests were done at 50% throttle unless otherwise stated.

    1) Tarot 4114 320 Kv  thrust 1240 grams  @ 5.5 Amps ( Added little more throttle to pull 1570 grams @ 8.1 Amps)

    2) U42           400 Kv  thrust 1480 grams  @ 8.5 Amps ( Reduced throttle until pulling 1240 grams @ 6.5 Amps)

    3) T Motor U5 400Kv   thrust 1570 grams  @ 8.2 Amps ( Reduced throttle until pulling 1240 grams @ 5.6 Amps)

    So as you can see the most expensive motor the T-motor U5 is the one of the best , but Tarot 4114 is pretty good just need to run a larger prop to equal the U5 .. I will test this when I find a bigger prop ..

    This all came about as I was looking for a cheaper alternative to the U5's ..I bought the U42's as they seemed to be the clone of the U5 ..perhaps the Tarot motors are the best deal when it comes to price and performance , although the bearings in the U5's are far superior ...

    Cheers Reuben

    • Hi Reuben,

      It's really hard to compare 320 kv motors with 400 kv motors using the same props. Very interesting results but I'm not sure what to make of them. I'm just installing SunnySky 4110 340 kv motors on a 800 quad so it would be interesting to compare them. They are supposed to be 92% efficient and I'm impressed with the build (bearing size, finish, windings, etc.) so I'll let you know what i think of them when I'm flying.

      • Hi Terry 

        Yeah I know about the difference between 400 and 320 KV and yes its hard to compare .. but my test was about what each motor pulled in Amps @ 50% throttle and what each motor could lift in grams at that throttle .As you can see I did a secondary test with each motor pulling the same weight and comparing the amps used to lift that weight (1240 grams) ..The idea is you want a motor that uses the least amps and pull the most weight ..All of which would equate to longer flight times..

        Regards R

    • Rueben,

      Interest in knowing what setup your flying.  Wasn't able to see any pics of your UAV nor description. Could you provide me details so I can better understand what you're testing motors for?  Thanks.  

      • Hi Doug 

        I fly various copters I have two 960 Tarot units one running tarot 4114 motors and one with the T motor U5's

        My test was not directly related the copters, just testing expensive motors against cheaper ones. I was curious if one was that much better than the other in efficiency vs cost.

        Regards R  

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