Arducopter 3.4.6 from 3.2.1

[Hands0n]

Ardupilot Release Notes are here --> https://github.com/ArduPilot/ardupilot/blob/master/ArduCopter/ReleaseNotes.txt

NB: This does not apply to APM users where that FC is not supported beyond AC 3.2.1.

So this weekend I have been updating my two Pixhawk multi-rotor aircraft with the latest stable release 3.4.6.  I managed to bypass 3.3 completely, which by all accounts was not a bad thing to do.  From what I read it did have a few problems in the Stable releases.  These are all ironed out in 3.4 as it matured to 3.4.6.

My two aircraft are a MiniMax Hex (created by @rotorx) and a 300 folding carbon fibre quad from Phil at @makeitbuildit.  These multis are equipped respectively with a genuine 3DR Pixhawk (original) and a mini Pixhawk.

MiniMax Hex
A piece of cake frankly.  The update to 3.4.6 was done through Mission Planner';s latest version and was as much of a single button push and a bit of a wait.   I';ve only hover tested it in the garden so far, but it did that as efficiently as ever before.  No tweaks or modifications to the configuration were required, although I did run through the recalibration of the Accelerometers and the Mag. 

300 Foldup
This little beast has been a bit of a pain in the bum since the off.  The mini Pixhawk has always taken an age to be ready to arm and I';ve not really got to the bottom of it.  After installing AC 3.4.6 it was no different .... But I had the bit between my teeth and was determined to fix it this time round.

Long story short, the configuration and calibration were off and caused a number of errors to come up with regard to the GPS - stuff about the quad';s speed being inconsistent with the GPS (it was stationary on the bench  outside!!).

So using Mission Planner I defaulted the configuration and started from scratch, steadily going through the full Calibration sequence and, where required, writing the Parameters to the quad and copying to a file on the computer disk so I could reload back to a point rather than have to re-do from scratch.

I don';t recall how I first set up the mini Pixhawk but clearly whatever plagued it before got carried across into 3.4.6.  MP makes it easy to Default the FC - its in Full Parameters list, on a button.

Whats in 3.4.6?   Mostly I read that 3.4 introduced EKF2 and makes full use of the pair of IMU in the Pixhawk FC.   I cannot possibly do justice here so take a look at the Release Notes linked to above.

[ched]

So is the 300 foldup arming and flying correctly? Come on tell us  ::)

[Hands0n]

LOL - Mrs T called me for dinner so I rushed the ending ...

Yes, the 300 fold-up is flying lovely now.  I might need to bring the gains down ever such a little but otherwise it made a good job of my windy garden in Loiter mode.  Stabilize was "brisk"  and responsive.

When I get some time out at the field I';ll put it through an Auto Tune and see what it comes up with.  AT has been getting better and better in Arducopter over the software iterations.