Blogs

Developer

ArduCopter 3.2 Released

Posted by Randy on November 24, 2014 at 7:56pm

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:

New Sensors/Devices:

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.

E-mail me when people leave their comments –
Follow

You need to be a member of diydrones to add comments!

Join diydrones

Comments

  • Erwin Quilloy December 23, 2014 at 9:44pm
    @carlos
    I will try RTL next flight. Hopefully it cab do safer landings
  • Carlos Abreu December 23, 2014 at 9:24pm

    I don't use land mode on FS I use RTL and it works perfect. Maybe change it to RTL which makes more sense to me and see if it still drifts.

  • Erwin Quilloy December 23, 2014 at 9:20pm
    On 3.1.5 when land due to batt fs occurs, the quad lands vertically, as normal, but on 3.2, my quad leans sidewards. Though I changed the frame and the gps compas module now, so it could be that my config changed, and so as the response?
  • Erwin Quilloy December 23, 2014 at 9:17pm
    I calibrated voltage readings, but the current sensor was set to 0, so I'm not monitoring reserve mah. But what bothers me is that my quad drifts sideways when landing on battery failsafe. That is my concern, actually. Not the triggering. I checked the Logs, error found was only low battery, but what causes it to drift is still a mystery..

    Btw, how do you calibrate the current sensor? I was only able to calibrate the voltage sensor.
  • DG December 23, 2014 at 8:46pm

    Have you calibrated the voltage and current for MP? What is the mah reserve set for and battery size?

  • DG December 23, 2014 at 8:44pm

    I've used battery FS several times, no problems.

  • Erwin Quilloy December 23, 2014 at 8:09pm

    got another violent crash today... Again, due to battery failsafe which triggers land. My quad is 3 feet above the ground when the failsafe kicked in..Violently, the quad hit a wall and crashed into the ground. As I was using CF props, the impact of the crash was relayed into the motor shaft. the shaft broke! Good thing I have spare motors in my box.

    The same problem which I noticed before with battery failsafe triggers, the quad will drift instead of landing vertically..This time, I was not able to switch modes to stabilize...so it crashed.. Luckily, it was just the motor, and the prop attached to the motor, were damaged. aside from that, the quad is fine.

    I replaced those parts and tested again to fly, but this time, battery failsafe is disabled. It triggered battery failsafe, but this time it did not land, only beeps and led indications. THen I landed the quad manually, safer than the land triggered by battery failsafe.

    I checked on MP the voltage reading of the 3dr power module. There was no problem with the readings, it was accurate and reads the same value as my digital multimeter. I see an issue with autolanding due to battery failsafe, or is it just on my case..

    Does anyone have this issue?

  • Jose Guerrero December 23, 2014 at 11:47am

    Hi, this day install the 3.2 version on my Y6 in an original Pixhalwk, and I see the horizon is tilted to the right, I've calibrated 6 times the accel and always remains the same.
    I take a chance to fly well, and takes flight always right.
    With trim and sub trim could correct it. But when I switch between modes increases the inclination and when landed the horizon is completely horizontal.
    Sorry for my English.3701899388?profile=original3701899552?profile=original

  • Manfred Dickgiesser December 22, 2014 at 10:01am

    Thank you so much for your help guys.

    Works great now. My configuration was LED_Mode,71 with arming led  connected to A5.

  • Erwin Quilloy December 22, 2014 at 5:54am
    @manfred

    I also posted the same question the other day but already deleted it. I found that the LEDs and buzzers are active by default

    A4 -motor led
    A5 -buzzer
    A6 -gps led
    A7 -arming led

    Led connected on A4 will be steady upon arming, and will blink of battery fail safe was triggered. The Same goes to led on A6, failsafe or gps lock loss will make it blink.

    The good thing about this is that you don't need to configure anything on MP, just plug the leds and buzzer and it should work.
This reply was deleted.