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
@Thor,
Yes, I've been buried under an impossible number of pings. It looks like the battery voltage is dropping a lot when the throttle is raised. Perhaps the battery has been damaged? The other possibility is that the battery monitor is not reporting the correct voltage. There's a video on the power module wiki page that goes through how to confirm the power module is reporting correctly although in short, it involves using a stand-alone voltage meter and compare vs what the power module is reporting to the mission planner.
@Randy
did you get my pings ok? i am sure you are buried with a ton of pingls, i just wanted to make sure i was still in the line? please let me know
I really appreciate the spline feature. I can't wait to try the laser!
Tnx for all the work Randy. Will try it as soon as the weather gets better :)
Many Thanks for Leonard that is the exact answer that I was looking for. Well Done. And yes I did hit it with Autotune and also got a slight improvement after some further tweaking. Now I am ready to attach some different camera systems bearing in mind the effects of low frequency secondary mass interference. Onwards and upwards as they say. Am I correct in thinking that a higher IMAX values would be required as larger gimbal weights are used.
Hi Denny,
IMAX is the maximum value that the integrator term can grow to correct for offset CG. It is also important for fast forward flight where there is a constant torque trying to rotate the copter away from the oncoming airflow. You can control your maximum airspeed by reducing IMAX. So when it is low, say 100 or 200 you should find that you can't get the copter to go very fast but you also need to make sure your cg is in the right spot or the copter will lean one way or the other.
Richard Kennedy, that reminds me. If you want to limit the maximum velocity in stabilize you can reduce IMAX until your maximum velocity is near what you want.
Would I be right in saying that the IMAX values are the max values that manual tuning via a channel knob could impart to the tuning?
@Vinscopter
I had a similar problem because Mavlink was not connecting, It turned out to be a damaged GPS cable.
@Vinskopter,
The new firmware should certainly work on the Pixhawk. Most of the dev team is only flying Pixhawks now. It's hard to say what the problem is, Are there no sounds or LEDS like those shown on this wiki page? Failing that, perhaps try to connect with the mission planner's Terminal screen and hopefully the reason for the failure will be displayed.
If you don't have a buzzer attached, could you please attach one because that may provide the answer as to what's going on.
@LarryField, @ThatJoshGuy,
Sorry, I totally missed your follow-ups regarding the accel calibration problems.
Can you guys send me a log of you copter? Ideally set the LOG_BITMASK to "131070" which is "All+DisarmedLogging". I'll send you a friend request including my email address.
-
8
-
9
-
10
-
11
-
12
of 18 Next