Warning: there was a period of about 12 hours after this blog was first posted where an older version (AC3.1.2) replaced AC3.2.1 for APM2. If you think you may have downloaded for the APM2 during these initial period, please check the version on your board by looking at the title bar of the Mission Planner (see the 5th comment from me below for a screenshot)
ArduCopter 3.2.1 has completed beta testing and has been released as the official version available through the mission planner and other ground stations. If upgrading from AC3.2 there should be no need to re-do any configuration.
Changes from AC3.2 are listed below and in the ReleaseNotes:
1) Enhancements:
a) reduced twitch when passing Spline waypoints
b) Faster disarm after landing in Auto, Land, RTL
c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)
2) Safety Features:
a) Add desired descent rate check to reduce chance of false-positive on landing check
b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
3) Bug Fixes:
a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
c) PosHold wind compensation fix
d) prevent infinite loop with do-jump commands pointing at each other
e) pixhawk memory corruption fix when connecting via USB
f) vehicle stops at fence's alt limit in Loiter, AltHold, PosHold (as it did in AC3.1.5)
g) protect against multiple arming messages from GCS causing gyro calibratoin failure
Thanks very much to Marco and our beta testers who put their copters at risk over the past several weeks to help us iron out these issues. Also Thanks to Raph for the video (this is actually a video from AC3.2).
Comments
Great news Randy.
Ah, we missed a manual step in the release so AC3.2 isn't available through the mission planner's "Pick previous firmware" link. Super MichaelO will sort that out shortly!
I'm know that my mag field problem it's mine, I have an internal compass, I calibrate but the problem are current, I have to buy an external compass but I can't do that for the moment I'm live in the world border :( but logs advertise me so I have to be more carefull with that, it's great how checks and logs advertise you that you have a problem when you don't notice flying, just impressive thank's dev team.
Emin, that it's I try to say to Eva, first solve your prearm errors if not you are near crash, I prefer 321 for shure too, english is not my native language, sometimes I can't explain well what I want to say, sorry.
Cala..first solve your prearm errors...how can you tell what is stable if have all this problems?3.2.1 for sure..
I'm only have APMs but 3.2.1. its the same that only solve some issues, It's solved the false positive landing for me, first to go back check your cuad, you have the gps in a mast with clear view of sky? is a sunny day? no trees or buildings near? cameras or FPV near? You wait some minutes to gps check sats? your gps battery is good? share your problems with photos and logs, perhaps othes can help you to find solutions., if some of the problems are yours and ignore them, you are in crash risk (I say by experience ;) )
Yep, ver 3.2 does not appear in MP. Is it possible to add it there as 3.2.1 shows many strange errors?! (With pixhawk)
I coudn't attach the log file too in this thread Huges, I don't know why.
Eva: 321 and 321 rc2 are the same, You have to pick previous firmwares to find 3.2 but it doesn't appears in my MP too, in the Github it suppose to be too but check if some errors are not from your copter, i have an internal compass and a lot of mag field problems
Hello, Same Warning for me, after upgrading from 3.2 to 3.2.1 on my 600mm X4 : "PM = FAIL - 10 slow loop lines found, max 9.50% on line 11890".
Never seen that before. I notice on dataflash logs that the 'nlon' value is now around 300. It was lower than 100 with the 3.2 version.
Thanks in advance for your comments.
PJM
Installed 3.2.1 on a X8 (Octaquad) and ran the auto log analysis that gave "PM slow loops". As we cannot attach log files in this thread, there is the link below where I posted the log file. Can anyone help to diagnose what are these PM slow loops ? Thx
http://diydrones.com/forum/topics/arducopter-3-2-1-beta-testing?id=...
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