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

  • Crash on AC3.2-rc14: Unexpected flip with a TBS Discovery Pro

    I crashed 20 minutes prior due to a silly mistake (took off straight after a RTL and forgot I was in Acro Mode), replaced two broken props, tested the motors, confirmed that Mission Planner HUD displayed the correct angles and headings and it looked good to go again. 

    I took off in Loiter mode (line: 12.5*10^3) and let it hover under 3 meters without control inputs.

    About 30 secs later, just as I started to provide control inputs, it unexpectedly flipped over diagonally and crashed into the ground, as if a motor failed. 

    It was not a mechanical failure, as after inspection, all motors were functional, all cables plugged in, all props tight. Apart from the external compass+GPS, which came loose, I flew it again today without any changes. 

    EKF was disabled. 

    I went through the logs and couldn't find any clues... Hoping that someone with more expertise than me can provide some insight into the data. Thanks! 

    2014-11-19 09-00-00.log

  • With everyone talking about calibration and ways to do it does anyone have a set of ranges we should be looking for? There are many ways to manipulate getting numbers but which ones are right? Is it still anything below 250 is good?

  • No Position Hold!

    MP 1.3.14 build 1.1.5436.9174

    ArduCopter V3.2 (c8e0f3e1)

    • Developer

      You need the beta of MP to  see Pos Hold

      • Moderator

        Craig,

        I just checked and the "stable" release of MP right now is 1.3.14 build 1.1.5436.9174 while the Beta version is 1.1.13 build 1.1.5432.12651. Not sure what's going on there.

        Regards,

        Nathaniel ~KD2DEY

        • Developer

          That means Michael pushed a change to Master but has not updated the Beta branch in github

        • Yep, that and the update prompt got me again today!

      • Craig, is it possible with MP to detect the version/build of arducopter code and check if the installed MP version is compatible with that firmware.

        If not, purpose downloading the right one (it could be upgrading even downgrading for example if lastest MP version would not be fully compatible with previous AC version... normally lastest MP version should be compatible with every AC FW).

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