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
It does take a few seconds and does turn on the HUD. But... not as fast as when I turn the entire quad. And ... just to really keep it interesting after a few minutes Turing the external does nothing on the HUD. But turning the quad does. So it's as if it uses both at first... then only the internal after a few minutes. Hopefully it's just a bad external mag. I'll swap it out for a new one when it arrives and see if that's the issue.
3.2 doesn't have the fail over for the compass right? Very odd the way it seems to start out sort of using the external but then doesn't at all. I didn't even think that was possible.
@Richard,
The response to the compass is very slow compared to the gyro so it may be that you need to leave the compass off at 45degrees for some time (like 30seconds) to see it rotate around. If the heading doesn't rotate after that long then it may be that the external compass isn't working for some reason. Perhaps Rob Lefebvre could have a look in the APM Forum...
Randy
@Joe, yes the pass through should be working in AC3.2. Please ping/post me if you find any problems.
The 3DR export policy has changed my outlook towards Pixhawk. Having got it working nicely in a X8, a Hexa and now thanks to Ray Gamaro 's help in one of my TDR S/R helis. I find that I can no longer buy a pixhawk and ship it to Cyprus. As I only have one unit and have to keep swapping it out, I will sadly be forced to use an item from China in the future. Same applies to buying all 3DR autopilots. Nothing like living in the good old USofA and you have to feel sorry for those guys who have worked so hard. But having waited all over Xmas for my replacement 3DR radios to arrive after having had two stop working for no apparent reason, I eventually get the message that shipping was delayed due to export reasons. Export delays don't actually stop them debiting your card though. That said, 3DR do have a great after sales hot line where you can actually get help, unlike Walkera in China. I guess my next purchase will have to be from Align, who are very serious about where they are headed. Thanks for all your help in the past guys.
@Bill,
Yes, there's some improvements which will make the transitions between flight modes smoother especially switching into RTL or Loiter from at high speeds.
The distance sensors are used in AltHold, Loiter, PosHold (i.e. not Auto) so it should maintain an altitude above the ground. The Sonar and range finders aren't super popular yet, maybe because the regular althold is pretty accurate but.. anyway, the feature is there.
Hi Randy,
Think we will be moving up to 3.2! 3.1Code has been flying very well on our systems but do have a aggresive pitch back when flying at high speeds and switching to loiter mode. Sounds like something has been added to smooth this out?
Also, I see support has been added for distance sensors. Are these sensors actually being used or just giving distance information (ex. can they be used for more accurate landing altitudes)
Best
Bill D.
Thanks @Randy,
in the previous post I have not attached the log ...
if it can be useful.
greetings
Log
@Fabio, thanks for the videos!
Hi,
I wanted to post movies inherent in great fw 3.2, the first movie is with a wind of about 20-25 km / h, and I wanted to point out the excellent stability and Alt Hold PosHold although urged by the wind.
The second is a movie with no wind but even here you can see the great stability of the fw 3.2.
Good work Team.
video1
video2
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