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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  • Head up about tricopters, i have already found the tail rotor has so much yaw authority that motor direction does not matter, slap on whatever props you prefer as it will still fly very well, you don't have to adjust yaw pids but can increase them if you feel any effects from using the same rotation on all motors.

    • That is true, I believe till 3.1.2 all size of props were fine in eve all CW, however I can assure that at least 3.1.5 and 3.2 rc1-7 for 15 and 17 " props this doesn't work well as they have a lot of inertia and increasing yaw PIDs also increases yaw authority of the CW motors. This is not noticeable in hover or in gentle maneuvering, bit is highly visible when you are moving fast in the right side then do full throttle left bank to stop
      During this maneuver tricopter yaws CCW about 15° than corrects. Also, during automissions, during discend, copter would rotate CCW then autocorrect.
  • Randy, may I ask you to disable motor spool up/down on a tricopter? As I mentioned in my previous post yaw in a teicopter involves spooling up/down the moyors like on a quad/hexa/octa. In my opinion this is not needed as the tail servo has more than enough yaw authority. In my opinion, the motor rotation direction on a tricopter should not be mandated, as this will allow use of any props available. This is greatelly usefull as 15" props are expensive and are sold in a pair. Following current rotation convention on a tricopter I have to use only CCW props. Thank you!
    • +1

      Perhaps the best of both worlds is to make the tail rotor rotation a parameter that defaults to CCW, but can be changed to CW if you have the props?

      Like: INV_TAIL_ROTOR=0 -> CCW | INV_TAIL_ROTOR=1 -> CW

    • Developer

      Artem,

      Do you mean the mot-spin-when-armed feature or the throttle feedback before take-off in alt-hold, loiter and pos-hold?

      • Randy, any hope for an answer?
        • Developer

          I've had a look at the Tri mixer and it doesn't appear to use the yaw with any of the motors.  The yaw is only applied to the tail servo.  So really, there's no requirement to make any of the motors CW or CCW in particular.

          • Randy, here is a video it shows that when applied yaw other two motors either spin up or down depending on a yaw direcrion. Cranck up you volume to hear the motors: http://youtu.be/Q1TjRckOl-I
      • Hi Randy,

        I believe (correct me if I'm wrong Artem) that he means the use of motor spinning torque as means for yaw (like on quads). Is it correct that arducopter uses that even on tricopters, where yaw should be done by the tail servo? Otherwise, why the requirement for CCW tail motor on tricopters?

        APM_2_5_MOTORS_TRI.jpg

        • Yew, exactly. Btw, MP mandates all CCW props starting since 3.1.5 I think this wiki page is too old. Adverse effects of the wrong direction motors are mostly visible with 15-17" props.
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