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
Randy
Thanks. So if the compass was too close to a motor or esc that would be reflected by the interference data? It does seem to fly fine. I recently changed to one of those all in one esc's and it's only 1 cm or so away from the pixhawk. I bought this rather expensive EMF shielding spray and some copper foil. I used both to separated the controller from the all in one esc. It seems to work well. The gps and compass are above the esc as well. If I watch the HUD compass heading and go full throttle I don't see any movement. Not a real sceintific measuring system but it stands to reason that's the real end game. But when I saw that warning I was wondering.
@Randy thanks i got it! and answered you back thanks again for the stellar work!!
@Thor, I've sent you my email address.
@Richard, So there are two problems reported there. The first one, is the high Z-axis compas offset which I don't think you need to worry about. We've actually recently modified the log analyser to be consistent with the flight code so that it checks that the overall length of the three together is less than 500. So with the latest log analyser that offset wouldn't be flagged as an issue.
The large mag field is probably ok as well. It's hard to know without looking at the logs but it's either that your location on the planet has a strong mag field or there is some short-term interference that's been caught by the check. The interference number is really the most important thing and it's very low at 9.27%. I'd say if the vehicle is flying ok, then it should be fine.
Randy or anybody who knows
Is this the external compass aka compass 0? Is this really bad? Could this be what has cause a GCS warning "EKF variance'"then "mode land"? I have the gps / compass on a pedastal not sure what more I could do.
@Randy how can i ping you? i have my log ready to upload but this page doesnt offer an option to add a file?
http://copter.ardupilot.com/wiki/common-rangefinder-maxbotix-analog/
Are the parameters listed in the document similar to what you have in your parameters list?
-Mike
Previously I was able to tick the "enable sonar" box just fine for my pixhawk with a mb1240 hooked up to the 3.3v port, now it's not letting me. I go to the sonar under optional hardware in mission planner and it won't let me check the box or select the anything from the dropdown menu. I tried reinstalling the 3.2 beta and still the same issue. Any ideas what is preventing me from enabling the sonar?
Hi Randy, I've had problems with "Accel calibration on my Pixhawk", yesterday I was flying in the stabilization mode and my Quad turned 15 degrees clockwise and lost total control. then I connected the pixhawk to "Mission Planner" appeared the following error "Bad gyro health".
I'll try 3.1.5 this evening... fingers crossed for a working unit, but being that I purchased this unit specifically for 3.2 software features (my Crius v2 running MPNG wasn't cutting it anymore) I really hope this issue can get setting, or we have a way to use the old calibration/health check routines.
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