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
So i went out a did a flight with your new fix, it lands and disarms like it should now!
If you need a log or a video i have both and can upload if you need :)
Great job, 3.2 will truely be rock solid! :)
Johnex,
excellent, thanks for testing! That was a very obscure bug and the issue wasn't specific to Tricopters even. It would have affected any multicopter where the throttle range set very wide. Very happy that we found the issue. txs.
Well i did reset eeprom from 3.1.5 to 3.2 and re-did the radio calibration, but i haven't changed the range on my own.
When you have a fix i can go out and test it if you need me to :)
Johnex,
Ok, here's a patched binary for Pixhawk Tricopter: ArduCopter-3.2-rc10-tri-landfix-Pixhawk.px4. It's actually a little closer to -rc11 as it includes some other bug fixes like a Mediatek GPS bug and also removes the chance of the vehicle tilting during take-off in auto, Loiter or RTL.
Please be careful with it, I haven't test flown it (I don't have a tri) but it should be ok.
Johnex,
I'll likely have a fix on monday and release -rc11 (I'll be away tomorrow). You can test we've found the cause if you like by reducing the throttle range on your transmitter and re-doing the radio calibration and esc calibration.
It looks like the bottom of the throttle produces a pwm of 982 and the top is 2006. If that was reduced so the bottom was above 1000 and the top below 2000 I think you'd find it would register the land properly. In any case, no pressure, I'll have a fix fairly soon.
I wanted to get -rc11 out this weekend but looks like i'll just miss it. ah well.
Hi!
Im all up for it, send it and ill go out and do another test when i can :)
Johnex,
I believe I've found the issue and it looks like a subtle bug actually. I believe it only occurs when the throttle range is quite wide. I.e. RC3_MAX - RC3_MIN > 1000. Is it possible that you've increased your throttle range recently because at first glance it looks like the issue is there in AC3.1.5 as well.
When I have either RTL or LAND on channel 7 or 8, neither my quad or tricopter will disarm upon landing. Just like the video- the motors stay in high idle and it appears to be trying to stabize itself but not with enough power to lift off. I'm not getting the wobble though. I think your wobble is coming from the the effects of the ultra-soft/wobbly landing gear.
If I set RTL or LAND to one of the flight modes on channel 5 it will disarm upon landing.
Hi Again!
Here is the latest log from when the tricopter tipped to the side due to the wobble and motor slowly revving up with time after RTL not disarming.
https://dl.dropboxusercontent.com/u/6749621/2014-10-01%2017-46-48.log
Im sure you will be able to see in the log the wobble and the motors revving slowly.
This sounds similar to an issue I had with my Y6. RTL completed fine in the air, once on the ground the motors initially slowed but then gradually starting increasing; it appeared about to flip so I switched to Stabilize to disarm. The throttle was set to minimum before touching the ground. Initially I thought the copter might have been trying to level itself, as the ground was sloping, but the gradient was only ~20 degrees so I think this should have passed the 45 degree landing check??
I'm sorry I don't have the log.
-
102
-
103
-
104
-
105
-
106
of 262 Next