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
@Manfred,
It's mentioned quite far down on the external-led wiki page but in any case, there's no LED_MODE anymore. The external LEDs and the buzzer are always enabled with AC3.2.
Could someone help me please? My external Armed LED works funny.
I installed ArduCopter 3.2 and so far everything works great.
But I’m missing at the new parameter list the parameter LED_MODE,71
With ArduCopter 3.1 it was still available.
@Ian,
The TradHeli is still supported on the APM2. The wording that confuses people is that sonar on a TradHeli using the APM2 is no longer supported. I.e. APM2+TradHeli+Sonar = doesn't work. APM2+TradHeli = ok.
Sorry if I missed it, but is traditional-heli removed from APM 2.6 boards entirely? Will I need a pixhawk?
Flew again my aphid quad f450 with AC 3.2, everything seems to be fine today. I had a battery failsafe on one of my flights, which, triggered auto landing. But because I had a bad experience with auto landing on failsafe before, I immediately switched flight mode to another then back to stabilize, and tried to control the landing. I do not know if it made a successful override or is it just repositioning during land which occurred. nonetheless, the landing was smooth, manually. I replaced all my props with carbon fiber instead, to make the quad more sturdy and less vibrating.
Here's my quad, the crack on the case of gps module was not really a crack but a scratch. :) Added some LED strips for arming, gps status and low battery flash interfaced on APM using L293D motor driver IC , I made my own circuit board for this. I will add additional white LED strips facing forward for night flights in the future.
Hello all, I have a question could I load ArduCopter 3.2 on my
PARIS v5r3 Mega iOSD + GPS - Multiwii Open Source AutoPilot Board from Multiwiicopter?
hi Randy,
can you enlighten me with the landing detector in Arducopter3.2? I had a battery failsafe in one of my flights today. I saw my quad tried to land, though the altitude from where it detected the low battery failsafe is not that high, while it was near the ground (about one foot above the ground), the quad suddenly halted from touching the ground but instead drifted sideways and hit the wall of my house, lost 4 props, luckily it was just the damage I got.
earlier today, I had another one crash too (not my lucky day), my quad is flying on stabilize mode. I flipped to Loiter mode though I knew that the GPS is not that good, I heard the quad beeped while I was flying on stab mode indicating no 3d Fix. And so when I switched to loiter mode, the quad leaned to the left and hit a tree. I lost 2 props that time. I reviewed the log it showed the gps failsafe, which I think triggered the land sequence. But what puzzles me is that why would the quad leaned to the left when it should just triggered a land vertically on GPS failsafe.. is this a landing detector issue?
How does landing detector feature works?
A total of 6 broken props, and a small crack on my compass-gps module. Minor damage, at least.
@Eduardo,
No, I've never seen that kind of problem.. very strange.
After install the new firmware I realize that Satellite Number only show up after start the motors. Is it normal?
AC3.2 is just going great, yet another autonomous mission; AC3.2, APM2.6, IFLY Quad-X Frame, Flight + Telemetry 1.6km@70mt Alt).
Thanks Randy and team for all your efforts.
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