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
Please tell me, can I set ANGLE_MAX = 5000 and more (I want to get max speed) ? Is there any problem ?
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.
Thanks a lot. I'll try 50deg soon. My hover is about 35-40%. Throttle at max speed ~ 80-85%. So I think 50deg will be good.
Curious about this as on my Discovery upping the max lean from 35deg to 45deg gained me around 20kph but my hover throttle is around 58%.
I do agree with the rapid height gaining when levelling out though, was handy as I was losing quite a lot of altitude even though I was in Alt Hold.
Hello Randy
is reset to armed yaw available in the next version?
for beginners this is a great help.
regards
Rainer
Rainer,
Ok, we've talked about it on the dev team and we're thinking about adding it back only for Loiter & PosHold modes but leaving it off for Stabilize and AltHold. The idea being that we should keep Stabilize and AltHold simple because they're fallbacks for the other flight modes. How do people feel about that approach?
(randy braces himself for the negative reaction)
All of the modes please. This for me is fallback in itself - to regain a sense of orientation if anything goes wrong in any mode.
Don't have much time to think about whether the mode I happen to be in at the moment is possibly enabled for the good old "show me your a...." switch :-)
Sam,
How about just enabling simple mode on a ch7/ch8 switch instead?
I'm using this trick and work great for me ;)
Point taken. Last time I looked I got the impression I would have to somehow select/declare all modes I would like to have simple mode active, so I used reset-to-armed-yaw - seemed less complicated then. I will re-visit GUI/docs and reorganize my setup - just that old habits die hard
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