ArduCopter 3.2 (aka APM:Copter) has been released as the default version replacing AC3.1.5. This is the exact same version that we invited all users to test two weeks ago.  Users who wish continue using AC3.1.5 can find it under the "Pick previous firmware" version on the MP's Install Firmware screen.

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 support 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 to 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 CommandYaw, Thor's Zombie Run&FollowMe, Phanivyas's Test, Rob's TradHeli, Christian's Test1&Test2, Balloon'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.

Views: 41767

Comment by Philip on November 24, 2014 at 9:16pm

Congrats Randy and Team!

Comment by Jason Short on November 24, 2014 at 9:43pm

Now's the time to switch over to the EKF by default. I have and have been very happy with it.
Congrats to all!

Comment by ultrojo on November 24, 2014 at 10:36pm

Congrats !

Comment by Hugues on November 24, 2014 at 11:42pm

Thank you Randy & team for your excellent work!

Comment by Michael Visser on November 25, 2014 at 3:12am

AC 3.2! Woop! This update is going to entice alot of users over to Pixhawk ;)

Comment by Thomas Kranz on November 25, 2014 at 3:23am

Well done guys ! and great support !!!

Comment by Kristoffer de Jesus on November 25, 2014 at 4:05am
How is the PosHold mode compared to DJI?
Comment by Julien Dubois on November 25, 2014 at 5:01am

More or less like the DJI GPS Atti one.

Below a little compare test, but not that good as we've not the same RC inputs on both copters. The DJI seems to drift a bit more during braking phasis and is less responsive to commands inputs. Anyways, it mainly depends on the way you setup and configure your copter and the pilot's driving.

Comment by leonardthall on November 25, 2014 at 5:42am

3.2 is so yesterday, onwards and upwards :)

Well done everybody, this is a big one!!!

Comment by Todd Harper on November 25, 2014 at 6:49am

I have been using this version for about a week now and I am extremely pleased with it. Thank you Randy & team, your hard work and dedication shows.


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