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

  • Hi Randy

    Mission planner would not allow me to enable my sonar.

    How do you configure a MB1240 sonar unit in the beta software rc7

    Regards  David.

    • Developer

      David,

           There's a new wiki page for setting up the analog sonar for AC3.2 here.  I've actually reworked the range-finder wiki section so it included other non-analog range finders as well.  Please tell us how it goes, we haven't had too many people try out the sonar with AC3.2.

           We will have to ask MichaelO to create some new sonar set-up pages in MP and APMPlanner for AC3.2.

      • Hi Randy,

        David is right, I also experienced this. It is currently not possible to enable the MB1240 sonar using the latest firmware on an APM using the latest mission planner.

        Regards,

        John.

      • Hi Randy

        I got my MB1200 (EZ0?) to work yesterday using your reworked wiki instructions.  Many thanks!  The information in the MP appears to be inconsistent with the wiki, but the wiki steps worked and it's the first time I have been able to get data from the sensor.  It appears that I am having scaling or initialization issues (sensor will not read lower than about 140cm when sitting on on the ground), but when I fly the sensor data is changing and appears to be tracking the "other" altitudes in the system, albeit with an offset.  I messed with sonar gain a bit (0.6-1.5), and it did have an effect on performance, but I have not been able to tune it up for the tight control I had using 2.9x as yet... 

  • Hi Randy

    Yesterday I flew a 14km, 1 hour mapping mission with 3.2 rc7 and was very happy with it.  Again it was quite a windy day, quad struggled a little flying into wind and smooth as silk running with the wind.  Looks like I still need to conduct some rough air tuning. I do like this version  how it sacrifices airspeed to maintain height.  Tested Stab, loiter, guided and auto.  Just uploaded the flight to Droneshare.  Noticed I had a few parameters in red.  Any chance you could take a look for me? http://www.droneshare.com/mission/17332 

    • Developer

      GocGoc,

      Great to see you using DroneShare.  I believe it has a built in Log file Auto Analysis much like the Mission Planner which I hope will be extended and help people get their logs analysed at least by a machine which may be able to catch obvious problems.

      It appears that when I download log files from drone share it's truncating all values to the nearest integer.  There's also a lot of parameters there, any idea which ones it was complaining about?

      My guess is it complained the COMPASS_OFS2_Y is too big (it's 163 when the auto tools complains if it's over 150).  This is no problem though.

      • Hi Randy, yes found a few parameters that were in red that were simply truncated. These are the remaining items that droneshare was not happy about

        ATC_ACCEL_RP_MAX 0 Maximum acceleration in roll/pitch axis
        ATC_ACCEL_Y_MAX 0 Maximum acceleration in yaw axis
        ATC_RATE_FF_ENAB Disabled Controls whether body-frame rate feedfoward is enabled or disabled
        ATC_RATE_RP_MAX 18000 maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
        ATC_RATE_Y_MAX 9000

        maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes

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