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 don't mean to ask a question you could write a book about but what is a ground plane. Thx

Sorry, my message was truncated

I have edited it now.

@Craig Elder

You have no idea how many questions you answered in that one paragraph about the M8N.

Yea I was thinking the same thing

And please do not stop typing!

You're welcome. I have been trying to explain this situation to people for months. 

@Craig Elder

Thank you for the explanation :-)

What could be used to shield the GPS from noice?

Craig, thanks for all the details!

I guess lots of people are using it but there is no central place with relevant information.

I just had a look at the specification but without profound background knowledge they are hard to interpret without any reference.

jamInd seems easy: CW Jamming indicator, scaled (0 = no CW jamming, 255 = strong CW jamming).

It would be great if you could post some guesstimates of unproblematic values/ranges for the UBX parameters from experience.

Hi Craig,

Could you please re-visit my post back on page 29 regarding the Heading issue that I had on mission flight that has GPS_Glitch error?

Many thanks.


I couldn't write a book... but I could read one (big smile, small chuckle).

The groundplane can be a simple as a DIY copper sheet for mounting the GPS.

Here's an article that provides a bit of detail.

For security and testing purposes I would be good if some sort of interference test would be implemented in the Auto Analysis feature in Mission Planner.

Phantom has his GPS shielded with cooper and eva rubber in layers

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