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:
- Spline waypoints
- Do_Jump, Conditional_Distance, Conditional_Delay fixed
- Do_Set_ROI persistent across waypoints
- Condition_Yaw accepts relative heading (i.e. current heading + 20)
- Reset horizontal position target when taking off in AUTO to avoid lean due to GPS position drift
- Rally points (Pixhawk only)
New Sensors/Devices:
- Lidar-Lite Range Finder, SF02, MaxBotix I2C sonar and Analog sonar (which was missing for Pixhawk)
- EPM Gripper
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.
Comments
Software looks great. 3.2 for plane
I have an interface problem. I got a LIDAR from PulsedLight. I interfaced it to an Arduino mini and uploaded the test program. The Lidar works great! Now on to the Pickhawk. Interfaced to the Pickhawk on the I2C port. Power and Gnd SCL and SDA. Double checked connections.
In MP I set the rangetype to 4. Looked for sonar enable but could not find it. I display sonarrange on the quick menu. It is always 0. In the status tab the sonarrange and sonarvolts are 0 also.
I have been working on this 3 days now. It is dr4iving me nuts!
I tried to swap SDA and SCL. Not that. Put back per diagrams. Tried LIDAR on Adruino mini and still works fine.
I looked at the advanced params and set what I thought were the correct ones for Pickhawk and PulsedLight sonar.
No luck yet.
Any one have this LIDAR and got it working on a Pickhawk and 3.2 ?
Silly. The Angle Max parameter should be 3500 or 4500. Not 35 or 45. You put in 35, you're telling it a max angle of 0.35 degrees. I've done the same thing.
> Did you check if you mid throttle is still correct?
Yes
> Does it hover at mid throttle?
No, loses altitude pretty darn fast
> Does it leap up or down switching to alt hold from stab?
No, loses altitude pretty darn fast
There has been zero design or battery change in a year. From 3.2 RC2-RC14 there has been no issue, this is a new issue. But yes looks like a re-adjustment is in need, just not sure why.
@ Edgar
Did you check if you mid throttle is still correct? Does it hover at mid throttle? Does it leap up or down switching to alt hold from stab? After I changed to a lighter quad I had to drop the mid position from 500 to 400 I think it was. Sounds like you might need to go the other way.
Bug?
So a very irritating issue. I changed the Max_Angle from 45 to 35. After that I had no pitch or roll control input at all. Yet it armed and took off. I didn't know this of course until after it took off I was lucky to get it down unscathed. Not knowing what the issue was I simply put it back to 45 but to my frustration it still had the same problem and a warning 'Check angle_max'. I was using DP. So I don't know if it's that or 3.2 or what but rather frustrating as the copter was nicely dialed in the only thing I know what to do was reset to defaults so now I'm back to setting it all up again.
I added the log here if you want to take a look
GPS to Stab mode altitude drop logs
Randy,
I finally had a chance to test the latest version and I do have an issue that causes a controlled drop.
Issue: When changing to stabilize from any GPS controlled mode such as POSHold/RTL my quad rapidly descends as if I dropped the throttle back.
I can counter it by throttling up to about 15% above mid throttle.
This quad has not changed its params and has not had this issue like this since Jan 2014
So I think something has changed in the last release or two.
On the good side I no longer have a flip over at take off.
TBS Disco Pro/APM 2.6/uBlox
I don't see the paperclip to upload the log file for some odd reason but here is a screenshot
here's another link for the 3.1.5 while it is not yet available in the MP, this one is a ONEDRIVE link. Please open the link, do not download directly.
Arducopter 3.1.5 hex
@TheMightyThor
I got not issue on the battery failsafe upto now, though when I flew my quad yesterday, I started on 11.4V. I did not start from full charge cap though since I was just testing my rebuilt quad. Later I will test this quad on full charge until my battery drops to failsafe level.
the link i placed above for the 3.1.5 hex is a 4shared link.please do not download directly, you need to open the link and wait for 4shared to generate its download link. sorry I do not know how to attach files here directly.
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