ArduCopter 3.2.1-rc2 (release candidate #2) has completed beta testing and has been released as the official version available through the mission planner and other ground stations.

Changes from AC3.2 are listed below and in the ReleaseNotes:
1) Enhancements:
    a) reduced twitch when passing Spline waypoints
    b) Faster disarm after landing in Auto, Land, RTL
    c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)
2) Safety Features:
    a) Add desired descent rate check to reduce chance of false-positive on landing check
    b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
    c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
    d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
    e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
3) Bug Fixes:
    a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
    b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
    c) PosHold wind compensation fix
    d) prevent infinite loop with do-jump commands pointing at each other
    e) pixhawk memory corruption fix when connecting via USB
    f) vehicle stops at fence's alt limit in Loiter, AltHold, PosHold (as it did in AC3.1.5)
    g) protect against multiple arming messages from GCS causing gyro calibratoin failure

Thanks to Raph for the video.  This is actually a video from AC3.2 until we have one specific to AC3.2.1.

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I appreciate the information on the GPS interference.  In all my blogging and reading, I don't think I ever read a better explanation about the M8N let alone all the different types folks have been using.


Suggestion that 3DR post a Blog on this subject and possibly providing a detailed analysis of the M8N, Lea-6H, M7N, and any other GPS on the market being used on drones. 


People want to know and I personally bought and tossed GPS that I felt are not meeting the mustard and that can get quite expensive for some.

Cool thanks Steve. I have 1.5" copper tape I might simply put it on the bottom of my gps. Can't hurt. 

Indeed; I'd rather protect against a potential  problem than have to repair the results of one. Ha

I would be building a ground plane for the M8N ASAP, but because the active antenna on the M8N is not detachable can I place the entire module on the top of the plane and connect the shield to ground?? 

Would soldering a grounding wire to the copper tape be beneficial? 

I've seen pictures of folks who have soldered a grounding wire to it and then plugged that wire into one of the common ground pins on the FC.

Just wondering...


From what I've read, yes, the ground is soldered to the shield.

without the ground wire it is doesn't shield but rather changes the radiation frequency and strength.

stone, I don't think as that kind of grounding is only usefull for low frequencies.

High frequencies require complete shielding. exemple here chap 3.6

what you suggest would be to get a same DC potential but I cannot see the advantage here

As far as I know, there are two things: i) ground plane and ii) shield.

  • A ground plane - where the ground is soldered to - boosts the sensitivity of the antenna.
  • A shield - which is not soldered to the ground - is to reduce interference from other components.

Not sure if one of the two options has a positive or negative effect on the other.

I have not made systematic tests so far, but a shield seems to help to some degree. What I found is that you better do not use bluetooth together with the M8N. 

There are some parallel discussions in this hijacked thread: see me reply on page 30 Permalink

But I am not an expert in shielding - hence some further input would be helpful.

A ground plane helps with the impedence match between the antenna and the receiver and consequently improves the performance of the receiver.

Electrostatic shielding is what reduces the amount of noise that the antenna and receiver electronics are exposed to by providing a lower impedence path for signals you are trying to defend against.

Richard, I can save you some time.  It is unlikely that putting some tape on the back of the GPS is going to make enough difference to measure.

You would be better off enclosing the Pixhawk, the RC receiver, Bluetooth device, any video transmitter,  - i.e all other sources of interference

you're probably better off trying to shield the noise sources.

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