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
@Alex and Richard - causing copter to climb on switching to AltHold.
-Vibration on Z is OK
-THR_MID is 500 as on last couple of months
-however POSCON_THR_HOVER is now 657, comparing to 550 while ago.
Could this POSCON_THR_HOVER affect the climbing on AltHold? Tx.
i did a test flight today, everything seemed to be fine with arducopter 3.2, I finally got to adapt with the strict landing detector. Somehow I managed to fly my quad smoothly. :) A few more test flights then I will move to my fpv quad. A big thanks again to the developers!
by the way, Last week, I accidentally shorted the output power rail on my APM. And it wasn't able to boot that time. I traced the problem and found out that the diode (D1) was busted. I intend on replacing the diode, but the diode that I ordered is still not here. So I placed a jumper on the terminals of D1 instead. It worked, but the polarity reversal diode is now missing on the system,and the VCC is 5.3V almost.
On AC3.1.5, I noticed that my VCC was running lower than 5V and thus experiencing low vcc warnings on the logs. When I updated to AC3.2, I wasn't able to power my minimOSD due to insufficient VCC voltage..Though I cannot tell for sure since I did not have a minimOSD when I was running AC3.1.5 back then.
But when the accident happened and I was forced to put a jumper across D1, my power module is providing enough voltage. I do not know exactly if this is an issue on AC3.2. but definitely not a power module issue, I tested 2 power modules already. Now that my APM does not have D1, everything seems to work well. Can you advise if I still need to put a replacement D1? I am worried if there will be problems on my setup in the future..
thanks again!
Cheers!
@John Sorry for the delay in responding. The smaller the THR_DZ value, the smaller the dead zone around mid throttle. It sounds like you found a range that worked for you. Clean looking quad. No thoughts on the blip other than to review logs to see where the adjustment came from. I'm still somewhat new to this, but have encountered issues pertaining to THR_DZ for althold/poshold and issues finding a good THR_MID setting for my set up.
Great - Much appreciated for all your help THL-DZ down to 40%. About maybe 4 - 5mm throttle either side of center for it to take effect. I have left PILOT_VELZ_MAX alone. A little slow up and down but will adjust when I get a better feel of the machine. I did notice a couple of time that while in poshold hover throttle blipped a little bit several time in a row causing in to bounce up a little. Only a 100 - 200mm. Any thoughts.
Hello Dax. Thanks for the fast reply. I'll give my Copters Spec First
Custom quad frame 700 - Spyder Configuration 1.6mm Aluminium
Sunny Sky 4108s-380 motors.
Hobby-Wing 30amp Platinum ESC
12x6 Props hovers at 60% - (Should be using 13 x 6)
Hobby king 2.7 v3.2
Ublox GPS
6S Nano Tech Lipo
Props Balanced
It flies very stable and responsive in Stab mode.
Post hold there is a lot of movement on throttle before it responds. No gps drif. Must be dead band it think?
Once outside this range it throttles up just fine.
If was going to post a log. What bit-log format would I use.
Thanks John H
Randy, one question, did you guys changed anything in how AC reports voltage pack in 3.2? for some weird reason my telemetry shows wrong voltage values for a 6s lipo under 22v, however it logs the pack voltage just fine. Telemetry shows voltage 22.2, 22.1, 22.0 than 24v while logs record correct voltage. this happens with 6s lipo with voltage below 22v, I haven't been noticing this behavior on my 4s setups though which are running 3.2 since June, only when I loaded 3.2 on my 6s machine.
p.s. I use Teensy hack to convert mavlink into frsky s.port and send it to taranis, will take my laptop next time in the field to see how MP reports it.
Rob,
The wind was about 10 to 15 mph. I had a good time keeping it steady. It was also cold out so the Baro may have cooled off a little causing the negative reading.
Michael, how much wind was there?
I think the problem is that the Landing Detector was never satisfied, so it was sitting on the ground, and was actually trying to move. The desired movement (only 1/2 m/s) was what caused the desired pitch to wind up which in turn caused that motor to speed up. Strange that it flipped though. Was it really windy?
I can't quite see why the landing check wasn't satisfied. One problem is that your baro is pretty noisy (due to wind probably), and the baro climb rate is going up and down. But it does seem to be less than 150 cm/s for a while, so the landing check should have been fine with that.
Another issue, is that your target landing altitude was going below 0 for some reason, I'm not sure why. I'll try to talk to Randy about this one.
Randy,
I was test flying the other day where I was seeing how the motors responded to Pitch and Roll commands and what it looked like in the logs. Any way when the battery false save kicked in and the copter landed I notice that one motor was spinning up instead of down. I know I left the throttle at mid level longer than I should have but the copter eventually flipped over onto is back.
I know there was a breeze coming from the North and the copter was facing South and I do see in the logs that the desired pitch is positive which was causing motor 3 to spin up.
I was surprised that it was enough to flip the copter over. What do you think of the landing data?
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