Developer

ArduCopter 3.2 ready for wider use

After months of testing, ArduCopter 3.2 (aka APM:Copter) is ready for widespread use and we invite all users to give it a try.  In order to manage the support load at first it will be available only through the Mission Planner and APM Planner2's Beta Firmwares link.  This link is visible from the regular "Install Firmware" page if you check the "Advanced View" on the Config/Tuning >> Planner page.  On APM Planner2 the "Advanced View" it is under the File menu.

In about two weeks we plan to replace AC3.1.5 with AC3.2 as the default version dispensed by the ground stations.

The full list of changes can be found in the ReleaseNotes but here are the highlights:
Flight Mode Enhancements:

  • PosHold flight mode: similar to Loiter but with direct response to pilot input during repositioning
  • ACRO mode handling improvement EXPO (for faster rotations)
  • Drift mode uses "throttle assist" (similar to AltHold)
  • Smoother transitions between flight modes (i..e when entering Loiter or RTL from high speeds)

Mission Enhancements/Fixes:

New Sensors/Devices:

Safety Features:

  • EKF/DCM check will switch to LAND mode if heading error > 60deg for 1 second
  • Baro glitch detection
  • Pre-arm check for Gyro calibration success
  • Pre-arm check that internal & external sensors (gyros, accels and compass) are consistent (Pixhawk only)
  • Parachute support (Pixhawk only)
  • Feedback to Pilot when taking off in AltHold, Loiter, PosHold (i.e. motors spin up a little as throttle is raised)
  • EKF (new attitude and position estimate system only used for reference in this release)

Bug Fixes:

  • Pixhawk GPS driver buffer overflow that could lead to missed GPS messages
  • Pixhawk I2C bug that could lead freeze up if I2C bus is noisy


Known issues/Warnings:

  • Pixhawk users will need to recalibrate their compasses
  • PosHold won't show up as option on FlightMode screen if you have an old version of mission planner.  Please select Help > Check for Updates
  • Landing detector is more strict meaning it may take longer to disarm after RTL, AUTO
  • Set THR_MID parameter especially if you have a very powerful copter because "Feedback to Pilot" raises throttle to 1/2 of THR_MID
  • Spline twitches slightly as it passes a waypoint especially if WPNAV_SPEED is set > 500.
  • Dropped support for NMEA and SIRF GPS on APM boards (ran out of Flash space)
  • Dropped ssupport for sonar for MultiCopters on APM1 and TradHeli on APM1 & APM2 (ran out of Flash space)

If you hit issues, please post them in the APM Forum and include a dataflash log file if possible.

Special thanks the Marco and the Beta Testing team from the AC3.2 beta testing thread who put their copters at risk in the pursuit of a smooth, safe release.  Here are links to some of their videos: Marco's DJIs900, Holger's Water Tower, Josh's Acro, Ray's TradHeli2&FPV, Raph's Hawaii, PhillS's CommandYawThor's Zombie Run&FollowMePhanivyas's Test, Rob's TradHeli, Christian's Test1&Test2Balloon's Spline, JimJ's FPV, Ultrojo's ROI & Spline&FollowMe1&FollowMe2, Troy's Mission

Thanks also to the code contributors to this release including Tridge, Jonathan, Leonard, RobL, Paul Riseborough, MichaelO, Julien Dubois, David Dewey, Andrew Chapman, Emile, Allyson and many more.  If you want to get involved check-out our dev wiki.

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Comments

  • Theo, you need to install the beta version of mission planner to get position hold.

  • Hey all, poped 3.2 on quickly this afternoon and she flies better than before on stock settings......wow.....nice one dev.....thank you....!!

    I however do not have PosHold as a option on MP only Position

    Version 1.3.10 build 1.1.5369.11976 

    even after param gen from Cntr-F menu  has been done still no PosHOLD

  • It is mentioned in

    Known issues/Warnings:

    • Dropped ssupport for sonar for MultiCopters on APM1 and TradHeli on APM1 & APM2 (ran out of Flash space)

    It means no support for heli in AC3.2

    But i have uploaded Arducopter Heli3.2 successfully. 

  • I would like to take this opportunity to thank all the people behind this major release -AC3.2. I'm truly grateful.  I've tested AC3.2 on full auto with spline waypoints and region of interest:https://www.youtube.com/watch?v=g_MtQPVnW8I

  • Developer
    @Elvin, yes AC3.2 supports Follow-me with DroidPlanner (and another other GCS that has the feature). I haven't used it myself but there are some videos of people giving it a try. Lead-me in particular seems very cool.
  • Developer

    Yes EKF is very flyable, but disabled by default. In fact it outperforms DCM.

    Congrats Randy on the release!

    Jason

  • Randy, EKF filter is default "disabled"? After eeprom clear and fresh AC 3.2 flash to Pixhawk got AHRS_EKF_USE 0.
  • Thank's; impressive job :)

  • Great!

    Did you forget to mention that this release supports follow me mode (compared to 3.1)?

  • MR60

    Thank you !

This reply was deleted.