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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        • There's a guy here in DIYDrones using 9 for stab yaw p and 0.8 for the rate yaw p and he notices a difference, could it just be him?

          Yep, that's me actually. :) To be fair, I'm not completely sure there's a difference. But it definitely didn't seem worse. It could have been a placebo that it seemed better and I just couldn't tell.

      • Yeah, I've read all the instructions, It was working before, I got a FAILSAFE warning and RTL when I turned the RC off even if it wasn't armed.

        Also is the compassmot disabled from the terminal in rc10? I had to do it from the GUI, how do I know my interference doing it from there?

        • Esteban, compassmot and compass live calibration are 2 different things which i think you are confusing. Compassmot is done on the ground. Compass live calibration is usually done just once (usually not even needed), by default it is off. MP will show throttle failsafe even if the copter is disarmed not sure about RTL though, this is exactly how you check that your throttle failsafe setup works.  I usually do it w/o battery connected with USB only:

          arm-> raise throttle -> move the copter a bit (by hand) -> shut down radio -> MP shows throttle failsafe -> RTL -> Land -> Disarm. 

          • Artem thanks, I've been flying arducopter a long time ago, I know they're not the same, what I'm asking is if compassmot has been disabled from the terminal because that's the way I used to do it.

            Also when I tested my Throttle Failsafe I always used to get that alarm, not anymore.

            • Hello Eseban. Check point 11 on page one of the thread.

              • Thanks Michael but I'm using a pixhawk, I don't get it

                • Developer


                  Compassmot must be done through the ground station in AC3.2 even for pixhawk users.  We needed to remove the cli for the APM2 (for space reasons).  The MAVLink version had to be quite different from the older cli version (in terms of how it communicated with the user) and I didn't think we should maintain two versions of compassmot when one would do.

                  I think we may have changed the behaviour at some point (before AC3.1.5) so that it doesn't show a warning or switch to RTL when the vehicle is disarmed.  I'm pretty sure that AC3.1.5 acts the same as AC3.2 but in any case, to test the failsafe you really need to arm the vehicle in stabilize (or some other flight mode), raise the throttle and then turn off the transmitter.  Then it should switch to RTL.  Note that there's no need to connect a battery during this test.

                  • Developer


                    (we've run out of depth so replying here).

                    So what you're noticing there with the flight modes is the way that it's intended to work.  It's basically ignoring any changes in the flight mode or ch7/ch8 switches while the failsafe is happening.  Once the failsafe clears it's begins where it left off.  So if you haven't moved the flight mode switch, then it doesn't see any change in the flight mode switch and it leaves the flight mode as it is (which is RTL).  If you've changed the flight mode switch while the TX was off  then when it's back on again, the flight mode pwm value will be different than it was the moment the failsafe started, it will see that difference and change the mode.

                    This is somewhat explained on the wiki when it says this:

                    If the failsafe clears (throttle climbs back above 975) the copter will remain in its current flight mode. It will not automatically return to the flight mode that was active before the failsafe was triggered. This means that if, for example, you are flying in stabilize mode when the failsafe is triggered, and this causes the flight mode to change to RTL or LAND, if you wish to re-take control of the copter you will need to change your flight mode switch to another position and then back again to Stabilize.

                    Anway, I'll review the failsafe page and add some info at least regarding the newer receivers that stop sending signals instead of dragging the throttle low.

                  • I'm pretty sure that AC3.1.5 acts the same as AC3.2 but in any case, to test the failsafe you really need to arm the vehicle in stabilize (or some other flight mode), raise the throttle and then turn off the transmitter.  Then it should switch to RTL.  Note that there's no need to connect a battery during this test.

                    Took me a while to realise that I had to arm the quad first...d'oh

                    Finally have my openlrsng + taranis  throttle failsafe working now, only thing that seems different to the wiki page is that if I turn the transmitter off then back on I only have to change the flight mode switch once to come out of RTL ie, radio switched back on while still in stabilise, change to loiter (or any other) quad goes straight into loiter; rather than staying in RTL until I go back to stabilise.

                    Also if the transmitter is turned off, I change flight mode, then turn it back on the quad automatically comes straight out of RTL into that flight mode as soon as I have a radio link again.

                    Could this be something to do with the openlrsng or have I misinterpreted the wiki?

      • Randy, could you clarify if the "Warning to FRSky receiver users and users of other receivers that modify channel 5 during a failsafe event"  section is still relevan? So far what I have observed is that it is enough to setup thr. failsafe in MP and leave my x8r to output default "0" value on all channels. However, this contradicts the section of the failsafe wiki I have quoted above.  does AC code ignores all other channels as soon as throttle goes below failsafe threshold? thank you! 

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