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
I apm 2.5 gps compass module separate esc simonk firmware.
I looked at the log, while touching the ground after rtl altitude instead of 0 indicates -1 / -2 m .perhaps and 'this is the cause of bounces?
I just tested arducopter 3.2rc5.
the flight and 'stable, the perfect loiter .after rtl when the quad lands small bounces.
in auto mode the motors vary speed slightly and continuously. the perfect waipoint
EKFCHECK_THRESH to 1.0 and/or BAROGLTCH_DIST to 700.
I suspect the negative altitude after landing is either barometer drift (a few meters is quite normal) or actually caused by the hard landing (the jolt of the landing is very sharp and fast and confuses the accelerometers a bit).
I'd have to see a log to take much of a guess at the cause, it could be an aerodynamic effect on the baro, it could be just poor altitude control, it could be not enough vibration dampening to soften the shock of the landing, it could be the land-speed parameter is set too high. many possibilities!
ok here is the log.
with the same configuration as the drone in ac3.1.5 lands and off correctly.
2014-08-22 17-28-50.tlog
the barometer has the sponge .apm has its own enclosure, and apm also 'installed inside the chassis.
My v3.2 rc5 troubles on a Tricopter here: http://ardupilot.com/forum/viewtopic.php?f=100&t=9387
Is this a setup/hardware/software issue?
Graham,
I've had a look at your logs and the uncommanded pitch and yaw is not good. I suspect a mechanical issue with the tail servo but I'm actually not much of an expert on setting up tricopters.
My guess is that this is the first time you're setting up the tricopter and you haven't run it on AC3.1.5? I think it would be best to downgrade the firmware to AC3.1.5 because we know there are many people successfully flying tricopters on that software. This immediately cuts the problem in half (from my point of view) because we remove the "is it a problem with AC3.2?" question.
Hi Randy,
thanks for the feedback!
I found something which is really strange:
When I set Mot_SPIN_ARMED to 0, arm, raise throttle up to the point when the motors start spinning and then leave all sticks as is the RCOUT values increase leading to faster spinning motors over time. The copter would flip; I fixed it on the ground.
This is what RCOUT looks like if I set MOT_SPIN_ARMED to 70:
And this is what it looks like if I set it to 0:
Any idea?
Thanks in advance,
Thorsten
Just checked it on another copter (both Pixhawks) with similar results.
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