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 Randy,
i did not use the buzzer, but don´t ask why..., and i thought red flashing Pixhawk LED is normal when it catches the gps signal.
Should the LED have a solid red light?
I will check the GPS update rate. I never changed the rate. My copter has two originaly NEO 6m modules out of box, one with compass and one without as secondary GPS modul.
The huge number of gps glitches i ever had and i´m always wondering why it glitch so many times in a row.
It´s glad to add one more pre-arm check for this and YES i´m wondering to, why the pixhawk 4 times blinking only violett after powering up. I disconnect the battery after the violett blinking status LED, connect it again and it works. I never thought about a DCM failure.
VERY VERY thanks to you! We have the best developersupport a user can have!
Best regards from germany and sorry for my bad english :-D
Dominik
p.s. i give you response when i checked/changed the GPS update rate and did a second flight in RTL mode after that.
Dominik,
Ok, great news about fixing the GPS rate. In case others see this, there is a wiki page here about this.
For the various colours of the Pixhawk check out this page. Flashing or solid Green is the normal sign that all is well. Yellow, Red, Purple means something is not quite right.
Hopefully we can get the GPS rate check into AC3.3.
Txs for your testing.
I seem to recall that FrSky have a software update to increase timing from 18ms to 27ms to help with CPPM signals with 8channels. They still recommend that all 8 channels should not be high at the same time. I did a basic test and found that keeping the max to under 2000 reduced random behaviour.
I don't have scope but I could get mode changes or strange throttle and attitude commands by maxing out more than 6 channels in different combinations. It was worse on the D8R with the 18ms code. Better once relished to 27ms. Now I just keep all of my channels under 2000
Randy,
Rebuilt my Y6B with the following changes and performed a test flight this afternoon. So far everything seems stable as I performed Stability, Alt Hold and Loiter tests only. And NO more motors overheating!
See log attached. Disregard my rough take off and landing. Working in back yard and ground is not quite level and tippng is common for that location.
3DR Y6B Modified
690Kv SunnySky motors
12x45 propellers
All the rest is stock parts from 3DR
Pixhawk loaded with v3.2 rc14.
2014-11-03 13-01-18.bin
Doug,
Great that it's going ok, thanks for reporting.
I had a quick look at the logs and there's some vibes leading to aliasing on the 2nd accelerometer. It shows up in the MP's dataflash log Auto analyser. It's also possible to see as little spikes on the IMU2 messages in the dataflash. Because the Pixhawk has 2 IMUs it's likely that it's using the 1st one (which has no problem) so you're not seeing any issues but FYI.
Anyway, thanks again for reporting in.
Hello All, On a related note I recently tried changing props to a higher pitch but the new pops are very hard to centre properly (Gemfan 5040 3 blade). Interestingly, it seems like they cause a low frequency oscillation under high RPM which pushes the vibe measurements around. No real change to performance but higher EKF errors (Not high enough to cause failures that I can see).
Thought you might like a look to see if these poor props and vibrations are causing any hidden issues. I thought that RC14 might have a problem dealing with this but it seems fine on EKF. Also, MAG had a large Y offset and Mag Field length is a bit high but I can't get rid of due t frame size but performance seems to be OK.
I have gone back to the 5030, less power but better mechanical properties.
First log (5030) with less vibration issues better EKF etc.
Second Log 5040 with bad vibes. Higher EKF and ACC etc numbers with some strange offsets (Not centred around zero)
Third log 5040 with poor GPS (Short flight but seemed to be OK)
I have been keeping these flights fairly close just in case anything goes wrong but so far RC14 seems to be working great for me. Thank you.
2014-11-01 19-29-51 5030.bin
2014-11-04 12-22-42.tlog
Just done some FPV long flight to round about 2 km without large issues, only some small things i noticed :
1. If i'm flying in althold with constant altitude and forward speed, (full pitch) there is a kind of motor pulsing which i think is coming from althold. the frequence is very low. Also if i'm in forward speed and then releasing the pitch stick, there is a motor pulsing noticable which i think is coming from althold (until the copter is slowing down)
Do i have to change Althold P settings for better result ?
Pomaroli, it could be some other parameters but I once fixed my motor pulsing issue by lowering the MPU 6000 filter frequency (INS_MPU6K_FILTER). Check and see what your value is. If it is 20 (I think the default) or more, you may try lowering it and see if that would help.Mine was 20 and it is now 10 and it helped a lot with motor pulsing during alt-hold mode.
But again yours might be some other issue. Randy may perhaps advice something different...
Hi Alex,
thanks for advice, it's set to default 0 so i guess this means 20.
Well the default used to be 20 back in days. It may be different now. Since I changed that parameter, it doesn't go back to the new default anymore. It stays where I set it to during firmware upgrades.
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