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
Yes, I've flown auto at 35 m/s with no problem, so it's not something wrong with the parameter or program.
I have an odd situation. Before I re-calibrated my Hexacopter (running 3.2 and a Pixhawk), I was able to hover completely level in stabilize mode a just a foot off the ground by increasing my throttle. After I recalibrated the accelerometers, compass and R/C (multiple times), it wants to either pitch forward or backward depending on the calibration when I simply increase the throttle in stabilize mode. I can takeoff to a given altitude and hold steady in AUTO mode, but when I have it LAND, the copter pitches forward and not level. Its almost like it thinks its level, but isn't. Any ideas what may be going on?
i'm having the same issue on 2 machines ! both pixhawk
100% reproducable in alt-hold or pos-hold, can someone explain what this Error exactly means ?
Bad variance of what values ? any idea how to solve / debug it ? my solution at the moment is to turn of EFK :-(
or if enable to switch to stabilize and fly manual.
Thanks
Thomas
Without a log it's hard to tell, but if it's the EKF complaining then the heading is likely incorrect which could be a compass issue. There's some documentation about it here. Turning the EKF is not a terrible idea if it's not working for you. DCM+InertialNav is the default for AC3.2.1 in any case. The only thing is that EKF is generally better at reporting problems than DCM+Inertial nav so it could be a real issue which the vehicle's setup.
Without the telemetry radio connect you will not be able to see the error.
The copter will not arm in Position Hold or Loiter mode with high HDOP also.
Stabilize and Alt Hold should be fine.
Mike
Ficu
Make sure you don't move the quad for 30 seconds or so when you power it up. I've also noticed by carrying it around it seems to sometimes wig it out and I get that error message. I started to not to power it up until I'm outside first and zi can set it down while it boots up.
We need a copy of the log to see your issue.
Randy
I know your insanly busy but... if you could look at this log [ or anybody else feel free! ] for me I'd really appriciate it. I've been having no problem with 3.2 at all ... flies just great but I had some weird glitch where the copter just dropped until I quickly put it in stab and nailed the throttle. It's around line 33700. Drone share log analysis said there was a over roll incident at that point too. I've looked at RC in and RC out but I'm not sure what I'm looking at for sure. Sure would like to know what happened! Thanks
220.BIN
Richard,
As Julien says it appears to be a false positive on the landing detector. It's a bit amazing with all the checks we've put in place that this is possible but it appears so. All the landing detector checks are satisfied for a full second.
The vehicle is in PosHold mode and is slowing down after flying forward fairly quickly (about 15m/s). As the vehicle leans back to slow down the wind likely catches the bottom of the props providing additional lift. The altitude controller pulls the throttle down stop the vehicle from climbing meaning the average motor output drops well below the 25% landing detector requirements.
The frame has a slightly larger than normal motor imbalance meaning the front-right motor runs about 200pwm lower than the back-right motor (so perhaps the COG of the vehicle is a bit far back). This slow motor hits it's minimum value which satisfies the "motor-hits-minimum" requirement of the landing detector.
The vehicle's rotation rate stays well under control with the vehicle rotating below the 30deg/sec that is another landing detector requirement.
The barometer also reports the vehicle is not climbing (because it's not).
This whole situation persists for more than 1 second and the landing detector fires and the vehicle gives up doing attitude control and tumbles.
We will need to add some more checks to the landing detector, I'll think about that and we will add it to the AC3.2.1 release. My guess is we will add a check of the desired climb rate to ensure it's negative.
Until then I think there are some things you can do to reduce the chance of this happening again:
1. reduce the THR_MID to 450. Your vehicle hovers at between 42% and 45% anyway and this lowers the average throttle requirement down to 22.5%
2. adjust the COG of your vehicle. Move it forward and right a bit.
3. decrease the braking speed in PosHold mode using the PHLD_BRAKE_RATE parameter. Making it lower will probably mean the vehicle leans back more slowly which will lead to less lift meaning the overall throttle will remain high.
COG is really really close. I have feeling the biggest issue is the shape / size of my home built quad. see pic. It has a very large flat surface area that probably acts a bit like a wing on a fast deceleration. At any rate I made the changes to mid throttle and pos hold braking as per your suggestion. I also have dual rates on my TX I had set max elevator to %70 [ this kept it under 15 mps or close at full forward stick ] I reduced this to %62 also perhaps this will help as well. Really crappy weather around here but as soon as I get a chance I'm going to go to a safe place and do my best to duplicate the problem. If not I guess I'm good to go. I made a note of the changes I made so I can put them back and after a fix is in and make sure I can't duplicate it again with the same settings as before.
I'm sure there is a reason 2-3 seconds isn't used for landing detection instead of 1?
.
-
13
-
14
-
15
-
16
-
17
of 262 Next