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
Hi Luis,
Before you can perform an Autotune, you need to be sure everything else is setup correctly, and the Quad flys well, but just needs some fine tuning with respect to responsiveness. Issues like drifting in stabilize with no wind (almost impossible to completely eliminate drift), and hover above or below mid throttle etc., need to be addressed before you attempt to perform and Autotune. Instructions for performing an Autotune can be found here.
Drifting won't be effected by performing an Autotune. Your Quad is drifting because the flight controller Thinks it's level when it's not. To correct this you need to redo your accelerometer calibration and make sure your Quad is level when you start; use a spirit level if you have one to make sure it's level. Follow the instructions here.
Once you have that settled set up your channel 7 switch as shown here and make a short flight in stabilize, adjusting your trims as necessary to eliminate any remaining drift. Once satisfied, land, save the trims, recenter your trims, fly again and check to see if the drift is gone. If not, re-trim and repeat the process.
Make sure you have these issues sorted out before you attempt an Autotune again.
Regards,
Nathaniel ~KD2DEY
Stuart
@ Luis, I am not sure how much of a drift we are talking about here but it is almost impossible to stop the drift entirely.Your copter will drift in stabilize mode by nature even if the winds are super calm and your copter trimmed perfectly. You may reduce the drift by following Nathaniel's advice above but you cannot eliminate it. The only way to eliminate the drift entirely is to use the loiter mode...
Your cuad support the extra payload?; did you check mid throttle?
I did not, how do check that?
@luis gonzalez: One way is to hover in stabilize mode.. Then look at the trim_throttle parameter value. (do not set this one as it is set by the flight controller) should be a value around 500
Take the trim_throttle value and copy this value in throttle_mid value..
Cheers
Henri
I did load the latest beta 3.2
Then I want to load the "3DR" default param for Iris (drop down list), see below.
When I try to load those params, it is saying "...value out of range..."
See below my actual values (left) and the 3DR Iris (right).
Could someone please explain the error?
WHich one is out of the range, my old value or 3DR new value?
You can accept the value in the param file as correct. The warning does not apply.
Hi all,
I am having a problem: Out of a sudden (after the second flight) the Pixhawk directly went to a state where the arming switch was on and were I was not able to switch it off.I disconnected the battery several times - same behavior. There are also additional tones when booting - similar to when you just installed a new firmware. It flies fine. But it is definitely not a normal behavior.
What I changed is the OS of my tablet (to Android 5.0) as well as to the latest Droidplanner version. And there are some problems as well (https://github.com/DroidPlanner/droidplanner/issues/1288). But the behavior still persists even after disconnecting to DP.
Is there some parameter (apart from ARMING_CHECK, which is set to 1) that might have been changed (from DP) and cause that behavior? Another, idea might be that it went into ESC calibration. So I tried an all in one calibration by purpose in the field but nothing changed.
Any help is greatly appreciated!
Best regards,
Thorsten
Today, everything was fine again. This is good but not really satisfying... So I really appreciate any thoughts on what might have caused this behavior.
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