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
And one side question :)
Is it possible to get previous stable live version 3.2, not 3.1.5 (instead of 3.2.1)?
In stable version list in a repo: I can see 3.2.1.
Under beta: there is rc2, ArduCopter V3.2.1-rc2
How do I find previous stable? Can someone give some guidance?
//http://firmware.diydrones.com/Copter/
Thanks in advance
@Randy.
I use 3DR Pixhawk. I have uploaded 3.2.1 firmware ..13591build.
I've noticed strange problems, which I did not have with prev version.
Will You recommend to create new post about this or can You give me some comments?
1) I can arm system, even when safety swich is not pressed (blinking)
2) There are multiple prearm errors:
2.1) check magn field (although I calibrated mang several times),
2.2) fence error (when Fence is disabled or Alt check, then no prearm fence error, when I use Alt + Circular, then I get this failure),
2.3) BAD GPS health
Here is my log LOGFILE
I disabled all prearm checks but, received some EKF error.My RCIN signal is faulty, (analog Tx-Rx) don't pay attention to throttle signal jumping in the end.
Today I test again the Tarot that I report a crash some weeks ago http://diydrones.com/forum/topics/arducopter-3-2-1-beta-testing?xg_... but repair my PWM issue that I had in the two cuads
I only flies near me and near the floor, in a moment I try to Land with a switch that I suppose (i'm a distracted woman) to change ch 7 from autotune to Land but I didn't or no write UFF!!!, so the copter instead Land, roll to the left and inmediately change the switch again; my surprise comes when i see the log, the famous ERR flight mode 15 that crashes my cuad appears again but this time if I don't see the logs I didn't notice nothing strange, again RTL appears in the log too, perhaps the crash day I forgot the switch down, its a possibility; it's common this ERR or an issue?
Thanks Randy Much appreciated!!
@Thor,
Yes, if you disable the power module the battery failsafe will be disabled (or more accurately it simply won't trigger).
RLT_ALT is in cm and 1500 (i.e. 15m) is the default. There's also RTL_ALT_FINAL which is also in cm. that's the distance above home it will stop descending at and by default it's "0".
just a quick couple of questions. if i disable the power module, do i lose battery fail safe? i also kind of remember the RTL Altitude to be measured in meter and not centimeters? do i remember that wrong? what was the default parameter for that? i changed it to zero a while ago and forgot, thanks in advance
Many thanks Craig.
My Y6 running smooooth...
@Waladi, yes that is normal. The default is Y6A (1) If you have a Y6B frame then change the frame to 10.
@ Craig - nice to hear. I did ask 3DR customer service, and was told that you stopped producing them due to low demand. Happy that you continue to produce the sensor :)
We were supposed to have new stock on the PX4flow earlier this week but that was delayed. I just got an update from Guillermo in the factory in TJ:
>>>Yesterday we sent 38, today we send 50 more, and we have 50 more in WIP for next Monday. So you should have them on the store after they pass QC in SD.
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