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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Great Randy :) I have the Pixhawk in my wishlist but, for the moment I'm part of the nostalgic APM users and if something can do to get more stable Pos hold it's great,  but I'm not worry because I learned a lot trying to have my copter more stable and now is another guy, but anything to be better is welcome and can help to test.

I agree with Marko that 3DR have to alert buyers sometime ago that APM is not possible to update anymore.

Anything I'm not shure with Pixhawk; I'm waiting yet for an external compass to solve compass interferences, If Pix have one internal compass that's means problems again? I read many post with Pix with compass interferences, any solution?  thank's

Hi Cala
The Pixhawk internal compass works fine (my X8 uses it alone) provided:-
a) The case screws are not magnetised
b) It is far enough away from any other source of interference

If this is not possible and/or for backup then an external compass is required.

will 3.3 came out with new drone from 3DR?on 13.04.2015

Hello Emin

is good marketing.


Thank's Philips

I just built a Ardu-Phantom and I want to utilize the DJI DT7 Transmitter and Rx. I connected it to the Pixhawk and it works. However, The roller for the camera tilit is Channel 5 and the mode switch is Channel  6. I looked inside to see if it was simple to rewire but the the roller seems to be a ppm signal and is not that simple to rewire. Is there a way in the APM Software to re assign the mode switch to channel 6 and camera tilt to channel 5? I really wanted to utilize this Tx so that I could fool people into thinking it was a regular phantom.




I ended up working out what was causing it not to compile. If I define the AC_FENCE (deactivate it) it stops the code from compiling.

#define AC_FENCE              DISABLED            // disable fence to save 2k of flash

Is it mandatory that the fence be active in the build?

UAS_pilot. Hi joe what settings does your Arduphantom fly on. I mean PID tuning etc.

AC3.3-rc1 is now available through the Mission Planner's beta firmware's link.  The new discussion is here.

As mentioned before a few times, AC3.3 (and higher) will only run on high speed CPUs like Pixhawk, Flymaple, VRBrain, etc.

you guys are great, i'm looking forward to do some testing by next week

here is my current file. I will be testing the 3.3 auto tune tomorrow and will let you know how it goes. 


Hi Randy and Dev Team,

Today, we had GPS Glitch error several times but from the attached log show that the HDOP is never above 2.00, this is with Dual GPS setup: stock GPS from 3DR Lea6H + Neo6M GPS equipped with RFD900 telemetry.

I hope is not due to RFD900 interference since it's on around 30cm distance between gps and RFD900.

Please advise..

Log FIle: GPS Glitch

Many thanks in advance.


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