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

      • Developer

        Have you checked with "Ublox Center" if your NEO8 is set correctly to "UBLX / 38400 bd, 5 Hz"?
        I've no problem, i've three M8 gps unit installed on VR Brain and Pixhawk, all works fine.

        • It came with a 6 pos to 5 pos cable. I assumed that was for use with apm 2.5 - 2.6. I used a 6 pos to 6 pos cable for use with the pixhawk that's correct right? 

        • No I haven't. I did request it be shipped for use with a pixhawk and it seems to communicate with the controller because RTL seems to work.

          I have a Mac too so that's an issue for me running that Ublox Center. I wonder if I could check those settings with this http://download.cnet.com/CoolTerm/3000-2383_4-10915190.html I've used it to set up a spark fun wifely module but I'd have no idea what the commands are for the NEO8. Guess I'll have to try to somehow go this route if nothing else works.

          • Hey, where does one get the stuff to "set up a spark fun wifely module"?  My wife wants to know!  (Grin...)

  • T3

    Hi Randy, 

    I am having problems with the landing detector from time to time (currently 3.2rc9): the copter tips over to one side - not a real flip or crash but not a nice landing as well. At the moment when I expected the copter to disarm the motors speeded up again - a little bit too much - and the it tipped over. Attached a log. The landing of the flight before was perfect.

    Maybe my landing speed is too slow?

    Best regards,

    Thorsten

     

    32rc9_landing_problem.bin

    • Developer

      Thorsten,

           I had a look at your logs and a chain of things went wrong with the landing detector.  The landing was a bit hard which threw off the althold controller a bit so it's throttle didn't stay glued to the bottom of the range.  This gave enough time for some horizontal position error to be created which led to the vehicle rotating (in roll and pitch) which led to the landing-detector thinking the vehicle was still moving.  It looks like it got stuck leaning at about 25deg and it would likely have realised it had landed within another second or so (see how the throttle out reduces at the end?).

          In any case, I have a patch that I'll test tomorrow that is a two-stage landing.  In the first stage it will relax the horizontal position control if it thinks it has "maybe" landed.  the "maybe" landed check is much easier to trigger than the full landing check.  It's also much less dangerous if it gets it wrong because it won't flip over or anything.  The 2nd stage will be the one we have now where it shuts down the motors and attitude control.

           If all this look ok, I'll put it into -rc10 this weekend.

      3702519162?profile=original

      Copter: init loiter target when maybe landed · rmackay9/rmackay9-ardupilot@6eefad9
      Applies to auto's land, land, loiter, pos hold and rtl flight modes
      • Genius! Can't wait to try out this patch!

      • T3

        Randy,

        perfect! I would be happy to test the patch tomorrow morning, if you could post a compiled version including the patch for a hexa (Pixhawk) somewhere.

        Actually, the landing was not hard. But the damping is quite soft, because I figured that the vibrations need to be pretty low for the long endurance copter to be (very) stable. Hence, this might have caused the "issue". Since, I solved some other issues I will also test some harder damping again.

        Thanks and best regards,

        Thorsten

This reply was deleted.

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