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
yep, same thing here! one of the internal compass offset is around 500.
We need to be careful that we're not mixing up multiple issues here. There are a number of checks surrounding the compass because it can go wrong in multiple ways but any one of them can cause a fly-away.
So there are 3 separate issues being discussed:
1. Rob's issue of internal compass offsets that make it un-useable as a backup and triggers the "PreArm: compasses inconsistent" message during the pre-arm checks. @Sander, yes, an issue to allow disabling the compass would be greatly appreciated.
2. Sander's complaint that he's seeing "Bad Compass Health". Is this the exact message displayed? There's a "PreArm: Compass not healthy" but this is actually a health check and should not be related to the large offsets. The Mission Planner may print "Bad Compass Health" if a compass's health goes bad, again, not related to offsets though I think and could be related to an actual failed compass.
3. Cumbersome Calibration. The latest Beta mission planner is much more relaxed. By the way, the compass calibration code is completely within the mission planner, there's no code in ArduCopter to do with calculating the compass offsets. Feel free to ping Michael Oborne about when he plans to release the next version of the MP.
APM Planner 2.0.15-rc1 and newer have Dual Compass Calibration support. you can trigger these 'beta' releases by selecting the option in APM Planner 2.0 Config under Conder 'Config/Tuning' view
Some issue here. I cannot fly without pre-arm checks off. I wish there was a way to let the system do all the checks but skip the compass. I simply cannot get the pixhawk far enough away from the battery. Is there a way to disable the internal completely and add a second external compass for redundancy? I2C port?
This thread moves so fast!!!
I check in once every few days for a read and am always shocked how many new posts have been made.
Well done Randy and all other devs for all your work!
Martin,
If you're afraid of crashing it then I'd say stick with the official releases and wait for the official AC3.2 release. My personal feeling is that AC3.2-rc7 (the current beta firmware version) is stable and is probably fine but I can't make any promises, there are probably a couple of issues still lurking in there.
Hi Randy,
Thanks for the Sonar setup information. The sonar is now working on the HEXA with APM 2.6.
I am trying to download logs to see how it is working but I keep geting " LOG TIMEOUT" after a short time.
How can I tackle the this problem. Using 3DR telemetry at 57500 baud.
Regards David
David,
I've never tried downloading logs over telemetry. It may simply not work and you may need to use the USB cable. When connected through USB you can still use the new Dataflash log download via MAVLink feature.
My only other advice is to ensure that "flow control" is enabled but if you're using the 3dr radio with the regular cables I'm sure it is already.
Leonid,
You should be able to set it higher, Leonard did this for the 2014 sparkfun competition. I think he set it to 60degrees.
Some things to be careful of:
1. The angle-boost feature does not look at the angle-max parameter so it will reduce the throttle if it sees the vehicle getting close to inverted. I forget which angle it starts reducing the throttle at but it's certainly higher than 50deg. It's somewhere between 60deg and 90deg.
2. You'll certainly get higher horizontal acceleration but maybe not higher speed. It depends on the power-to-weight of the vehicle. If it hovers at the normal 50% throttle then it's top speed is actually achieved at about 22deg. If it's hovering at 35% throttle then you'll probably get a higher speed with a higher lean angle.
3. in both 2013 and 2014 sparkfun competitions, we saw the vehicle fly up quite high when flattening out after a high speed straight run, we think this is because of the I-term build up in the navigation controllers as it fights the wind.
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