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
Henri,
This applies to any two GPSs. The Piksi library isn't in master yet, but once it's there..
Hi,
I have skimmed through the 43 pages of comments on this topic and havent really found anyone talking about the new dual gps feature.
I am a engineering research student working with the government of Canada trying to develop a drone for crop analysis. I want to use the dual gps feature with the u-blox gps and the swiftnav piksi because of its rtk precision.
I thought it would be beneficial to point some bugs I have noticed regarding the beta version I have been using for a while now.
1. I have noticed that during a normal waypoint mission, the copter starts circling around the 3rd waypoint
and then suddenly shoots up.
2. I have also notices some weird things in the logs with regards to the dual gps feature. When the u-blox is plugged in the GPS port and the piksi in the SERIAL port, the logs are fine. There is a jitter in the coordinates but I think that is the sensitivity of the piksi. however when the piksi is plugged in the GPS and the u-blox in the SERIAL port, missionplanner doesn't recognize any gps and the logs show 0 altitude.
I hope some of this information can help make the next version better.
-Rai Gohalwar
Hi Julien,
Thanks for your feedback and suggestion. I need the 2cm accuracy for the experiments I need to conduct. My only option is to use an RTK gps. The one you recommended has a 2m accuracy which is too vague for me.
-Rai Gohalwar
@Julien Dubois
Bonjour Julien.
We wanted to try the NEO-7N-0-002 from NEO-7N but it came without antenna! so until we've got an antenna we can't see if better performance (and Pixhawk functionality) can be achieved.
Did you try NEO-M8N with Pixhawk or APM ?
Regards
Henri
Hi NullVoxPopuli,
The hook-up is pretty easy, it can be accessed through the swift-nav website. I believe so, the gps is using UART serial communication.
I believe you are mistaken brother, the piksi if used as an RTK gives 2-3cm accuracy. Right now it is being used a normal gps.
-Rai Gohalwar
@ Raibrinder Gohalwar Did you try to connect the piksi (Serial port A) on pixhawk serial port 4/5 without the u-blox?
Would be interesting to see difference in precision in between piksi and u-blox.
I do have Piksi v2.3.1. What is the version you're trying?
Henri
Hi Henri,
I have tried many different configurations. The one that works the best right now is piksi(port a) to serial 4/5 and u-blox to gps port. when I turn off the u-blox and just use the piksi it doesnt recognize a gps. (Maybe the gps 2 in the parameters is not supposed to work yet. According to @ Mihai)
I have 2.3.1 piksi. well two of them . I intend on using the rtk capabilities on the x8 quad.
-Rai Gohalwar
@Raibrinder Gohalwar Thank you for answering. Did you try pixhawk serial port 3 (labelled GPS) to
SwiFT Piksi UARTA alone? Perhaps the Pixhawk software just acknowledge Serial 3 as a valid GPS?
Let me know..
Cheers
Henri
Hi Henri,
I did try that and other configurations with that wiring setup. With just the piksi, the screen says: BAD GPS HEALTH. the other way I tried was to make both gps1 ang gps 2 =1(auto). That gave me a 3d fix. Thirdly, I tried setting gps1=8(swiftnav protocol) and gps2=2(u-blox) and I got gps=NO GPS
Another interesting configuration I tried was gps=0(none) and gps2=2(u-blox) That also gave me NO GPS
I have found that the loiter is not very stable and the logs are misbehaving when this wiring config is used.
Pay a visit to my other discussion relating the piksi.
https://groups.google.com/forum/#!topic/swiftnav-discuss/z34YTh-4Mvw
-Rai Gohalwar
I don't think the Piksi GPS driver is in master yet but I'm sure it's on it's way because I've seen the viceo of it working with an IRIS.
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