ArduCopter-3.2.1 Beta Testing

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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            • yes i agree... the disarming should be instant as long as the baro detects the altitude is 1m or below form the ground, not in the air for sure!

              • The baro cannot detect how high you are from the ground.  It can only detect how high you are from your home location, and is subject to error.  

    • Developer


      I guess you mean when you do the disarm using the transmitter?  I think it's currently 2 seconds.  I guess we could shorten it to 1sec or 1.5sec..

      ..or do you mean if the pilot has it sitting on the ground with the throttle low, it'll automatically disarm after 15 seconds.  This does seem a bit long.. normally people only hit that if they're really taking their time getting the vehicle off the ground after arming.

      • 1 second sounds good, user adjustable between ? and 2 seconds even better......

      • yes, when I do push  TX sticks down+right /down+left (this is the NAZA routine) the motors disarm almost instantly, providing a sense of control of the machine. The APM instead has a delay which is fine, but it feels a little long in case of an sudden need to shit it down... would be nice if it was a parameter we could setup to as low as possible 

        • Agreed. 2s is a bit excessive. Would feel much more in control with a more immediate disarm. 

  • Had a problem with this mission. It just went up to the correct 50m alt @wpt 1 and then sat there did not attempt to go to wpt 2.

    Set mission with the latest APM Planner.

    • Developer


      Thanks for the log.  It looks like the WPNAV_SPEED is set to 100 (i.e. 1m/s) and it looks like it was faithfully flying at that speed at the end so it may have gotten to wp2 after a really long time.

      • LOL opps.. I adjusted it I should have had my readers on.. thx

  • Today, I check again land from Alt Hold and Pos hold without wind and with wind and all works well again, I repeat the same things when I had the issue but now all works well, then I fly in pos hold and alt hold the two cuads and all well in windy conditions,Another thing that I do, I use the ins filter, I try 10-20-30 in my old cuad and 20 looks the better option, them I try 20 in the Tarot and have  better results in pos hold (it's a little nervous in windy days I suppose for low kv motors and big props but now looks better, it's possible?), I couldn't try missions because reduce space and have Canadian visitors tomorrow (afraid to crash) but as soon as I can I try RTL and missions, I'm in summer, time to flight ;)

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