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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        • He was referring to APM.

          However, PIXHAWK is indeed becoming insufficient already - a faster CPU and especially a second core would be very helpful in terms of being able to do what Paul wants to do with the EKF. Copter is currently struggling to keep main loop times down to 2.5ms, but does seem to be successfully running at 400hz. EKF could better handle hard IMU failures if it had more CPU - what I gather is that we almost need to run two of them, one for each IMU.

          • And what about running the fast_loop at only 200Hz or even 100Hz with the Pixhawk, just like the APM?

            We need a refresh rate in line with the copter dynamics and, even if 400Hz is anyway much better than 100Hz, maybe the 100Hz is fast enough for most cases.

        • he is talking about APM...

        • I believe they mean they are running out of flash space on the APM. I could be wrong but without getting rid of the CLI then 3.2 would not have been available to those with the APM. Pixhawk should be good on flash space.

      • Thanks Randy. I found the download section. I was wondering how you now enable/disable items, i.e. imu, att, ctun, etc.. 

        • Developer


              Aha.  So it's possible to use the drop-down in the standard params screen of the mission planner to set the LOG_BITMASK parameter but the user doesn't get complete flexibility in what logs are enabled disabled.  So we need a new feature in MP which allows more fine grained control.  Issue for MP added!  Thanks for the report.

  • Nice, it's best then ever! Congrats guys!

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