The 3.2.3 release is a minor update to 3.2.2 with 3 fixes:
The most important fix is for the altitude drift, which could cause a poor altitude reference if your GPS altitude drifted while disarmed. The bug showed up as a significant drift in the reported relative altitude on the ground station when the aircraft was disarmed with the EKF enabled. The root cause of the bug was a disconnect between the EKF origin and the planes origin for relative altitudes. It only happened when the GPS altitude varied significantly while disarmed.
Start of 3.3.0 beta releases
The 3.3.0beta1 release has a lot more changes in it. The largest of the changes are internal, such as performance improvements in the NuttX operating system on Pixhawk, but given the size of the changes we want as many test users as possible.
Changes in 3.3.0beta1 include:
I'm expecting a lot more changes will go into the 3.3.0 release as we still have a lot of pending pull requests. I will be doing regular beta updates as new patches go in (once they are flight tested).