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
anyone tried a FLIP on AC3.1.5 rc1.
Fairly much where I'm coming from. My thoughts are that guys that can fly well enough to cope with an odd control loss should push the boundaries a little to benefit development for the guys that can't...
Martin
I tested the 3.2-rc1 firmware today, on an APM 2.6 equipped 600mm span quad, running FrSky PPM Sum receiver.
I flew a handling test in Stab and Loiter, then did an Auto flight through four waypoints, two of which were 'splines'.
After much flying recently on 3.1.2, release 3.2-rc1 felt very fast on roll and pitch response, but sluggish on yaw.
The pitch & roll response felt more like my Trex-500 clone actually. I could like it, but will probably reduce the rc_feel_roll_pitch parameter, and increase whatever will speed up yaw response. I don't need the quad to feel like a 3D heli :)
The Auto waypoint flight flew the mission OK, but heading out to the first waypoint the quad did some fast pitch bumps, about three in a row half way out. It flew the next two splines ok, perhaps with a couple of pitch bumps again (hard to tell at the distance away). It did a two rotation loiter circle at the last waypoint, but the circle seems to be half the diameter I expected (2x radius).
So apart from a slow yaw response (accel and decel) and some pitching irregularities it's OK so far.
Log attached.
mr.sneezy
Try increasing ATC_ACCEL_Y_MAX . This is a new param in 3.2.
I had to bump it to at least 50000 to have something decent.
Thanks.
I bumped it to 40000 initially from 18000 and got a better yaw response, will increase again for next test flight.
Martin
@Pierre, it seems, from the log, that you lost GPS connection during RTL. Your Nsats dropped to zero in the middle of RTL and your ThrIn went idle upon RTL....that's why it fell like a rock - just an observation.
Hi Pierre.. after having a quick look at your logs I notice that twice your altitude/baro dropped below zero last one lasted the longest ..this seems to be a posible cause of your crash
Your throttle INPUT went to idle and your mode switch went to RTL. Presuming you didn't do that on purpose, you probably flew out of radio range and never configured the failsafe on the radio or the flight controller. The radio will just go to whatever it was set for at binding, which is usually idle throttle and whatever your first mode switch is.
Yes, RTL should control the throttle actually, so I suppose it should have ignored the idle throttle input. The log has an RTL input TWICE actually. About a minute apart.
What is your TX/RX system?
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