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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        • Hi all, did you successfully solve it? Tomas

  • So after our spectacular crash of our Matrix, we broke out theAPM 2.6 hexacopter, which has some type of altitude holding issues. Keep in mind, Barometer is very well covered by foam, and has never had this issue with a Y6 frame, but since we have changed to a large hexacopter, we are currently using a RCT800 frame, with the FC inside between the plates. Maybe the cross wind is channeling weird between the plates? but logs show that the alt demanded matches the alt indicated.....?

    3701916358?profile=originalThis was with a very simple 6 waypoint autopilot mission. It couldn't finish the mission because it kept going up and down +/- 20-30 meters around waypoint 5. 

    This is with an APM 2.6, GPS+compass on a mast, and with every precaution taken according to wiki. The barometer seems to be very very iffy, resulting in up and down in Loiter and also in Auto.

    Any suggestions on what we should look into? Thanks very much . Log is attached. thanks.

    ps i realize now, that my mode switch programming sucks, I will change that asap in prep for next flight.

    2015-01-18 10-24-26.log
    • Well, was your copter flying okay in loiter and alt-hold mode before this auto mission?

      If it was, then I don't have much suggestion because my experience with auto missions is very limited.

      But if the copter was having a barometer issue meaning it wasn't able to hold altitude well in alt-hold or loiter mode, then you should check the vibration levels first.

      • copter is not flying okay in alt-hold and loiter. 

        I will check vibration levels first, as the log didn't record it. 

        • I'd like to follow up on this:

          The hexacopter is now flying amazing. 

          Our Accel Z was between +3 to -20! no wonder why it flew like crap. We had trouble with cold weather making the vibration absorption foam here, so we bought an AVdome from, and it reduced our AccelZ to -8 to -10. 

          Now it flies great. No more altitude issues.

        • If it wasn't flying okay in alt-hold or loiter, you shouldn't have tried any auto mission to be honest.

          It will most likely be your vibration (especially z axis) issue. 

          Go to Advance Parameters> LOG_BITMASK and make it "default + IMU" then save.

          Get your copter up in a stable hover in stabilize mode (Do NOT use alt-hold or loiter). 

          Fly a minute or less and land. Then post the dataflash log here so we can check the vibration level.

          But make sure you fly in calm winds and you have to let the copter in hover by itself (kind of hands-off hover) to get accurate vibration reading...


          • Hello Alex

            Thanks for taking the time to help.

            To answer a few questions,

            Set PID's back to default

            Their is foam over the Barometer sensor

            Increased  INS_MPU6K_FILTER to 10 the 20. Default 0. Noticed slight improvement

            Note INS_MPU6K_FILTER set back to 0 for log

            Throttle set to mid

            Props balanced

            Balance of copter good. Hung by string at mid point.

            Still pulses in alt and loiter

            Log attached Default + IMU

            Hope this helps

            Cheers John H

            New Zealand

    • Can you test by using a house fan or something indoors and see if it affects the altitude reading as you manually rotate the copter at different angles to the wind?

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