Developer

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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Replies

  • Randy, please tell me about parameter "feedforward". What is it? What does it do?

  • Loaded 3.2-rc3 yesterday and flew a mission with a mix of spline and regular waypoints. I also performed an Autotune and then flew in several flight modes. I have never seen my quad act so stable. Many thanks to all of the developers that make this possible for the rest of us.

  • thanx randy, christian for the information.

  • Hi,

    Flew 3.2 RC3 today,Everything went well just flew some acro / stabilize / alt / loiter / pos hold BUT while in stabilize I set up my CH7 to "flip" and in 3.1.5 it loses a bit of altitude but recovers smoothly with 3.2 It seemed the loop was tighter (could have been result of tuning) but it seemed to jerk to the right almost like it was using a GPS position target to get back where I started.   Just wanted to report it, in case its of help.

    Brandon

  • Here you go Randy, I did another with Spline and several ROI when I was up in the Smokies

    Note: This has absolutely NO post stabilization added...zippo, its raw video, I guess this just shows how bad a$$ the 3.2 update is :-D

    • Beautiful! Footage looks good, and smooth compared to an auto mission from 3.1.5. Looking forward to trying those spline waypoints...

      • Yea, 3DRs Spline is a billion times cooler for videos than DJIs Adaptive Turn  :-D

        • Edgar,

          Very nice video. What interests me is the smoothness of your video when using spline waypoints. My quadcopter flies equally nice, but when passing a spline waypoint there is a noticable hickup in flight that my brushless gimball can't compensate.

          So I guess my question is: do you experience the 'hickups' around the waypoints? Or does your gimball system compensate that?

          I'm flying the latest firmware on an APM2.6 controller.

          Best regards,

          Jan Willem

          The Netherlands

          • Jan you can see it between 1:10 and 1:12, thats WP-8, Randy it would be nice if we could smooth that out too then this video would not need any post-stabilization at all.  Spline is amazingly smooth overall and I'm so dang impressed on what the guys at 3DR have done so far with it.

            • Developer

              Edgar,

              Yes, that little twitch as it goes past the waypoint is a real pain.  A nasty blemish on an otherwise pretty feature.  A brushless gimbal might obscure it some but yes, we need to resolve it in any case.

This reply was deleted.

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