Warning #1: PX4/Pixhawk users upgrading from AC3.1.5 (or earlier) may need to re-do their compass and accelerometer calibration because AC3.2 also uses the backup compass and accels.  Pre-arm checks have been added to ensure this has been done.

Warning #2: on the APM2.x the logs must be downloaded using MAVlink instead of the terminal.

AC3.2-rc14 is now available for BetaTesters through the mission planner’s Beta Firmwares link.  The full release notes can be found in ReleaseNotes.txt and changes from -rc13 can be seen below.

     Feel free to raise issues found during testing on this discussion or in the new support section in the APM Forum.

     It’s a big release with “the onion” restructure and a bunch of new features (including these 57 closed items) so we need to re-test almost everything including all flight modes, all mission commands and all the new features.  Marco and I will be maintaining (and adding to) this testing list.  Issues reported will first be checked by Jonathan, Marco and I and then confirmed bugs/issues will be put on the github issues list (and then hopefully fixed).

     Thanks especially to the beta testers who put their copters at risk testing each release.  Enjoy!

Changes from 3.2-rc13
1) Safety Features:
     a) fail to arm if second gyro calibration fails (can be disabled with ARMING_CHECK)
2) Bug fixes:
    a) DCM-check to require one continuous second of bad heading before triggering LAND
    b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy
    c) reset DCM and EKF gyro bias estimates after gyro calibration (DCM heading could drift after takeoff due to sudden change in gyro values)
    d) use primary GPS for LED status (instead of always using first GPS)

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I can't find motor test in MP.

"Individual motor tests (see MP's Initial Setup > Optional Hardware > Motor Test)"

the only option available is "Compass/Motor Calib"

Randy, Thank you for update 

 Tomorrow, If i have free time. I maybe have test it.


Thanks Marco.
...charging my lipo's now! 

...testing list now ready.

...let's fly!

great news...so many options...

Downloaded new 3.2 fw

Done very basic tests (Stabilize-AltHold) on my quadcopter... no dramas up to now!

...I'm struggling with CLI functions no more available ...I can't find compassmot, reset, erase, enable/disable logs, etc on MP...is there a doc that describes where we can find these functions?

Thanks to dev team for this new release that looks really interesting!


Hi Randy, congratz to a big progress with EKF, it's getting better and better!

BTW, I'm using a PX4, will it also receive the same features as Pixhawk?

OK cool, new features to always improve Arducopter, thanks diydrones community :)

What about parachute support? There's possible to know how does it works in detail? algorithm (vertical speed, gravity, roll angle threshold values) for auto eject and driving capability (servo, relay)?

Also on 3.1 post Marco talk about pause features during auto missions, I don't see anything regarding this interesting feature....

will fly on Wednesday with 3.2. will leave a feedback. it is getting ever more interesting. the reliability of hardware (pixhawk) and firmware 3.0+ is very high now. i really never had issues while flying (a misbehavior). whatever they were only because of wrong params settings. the mission now resumes after any manual command interruption in auto was needed. i want to fly downhill. can i give negative altitudes while maintaining a fixed height above the terrain. the mission planner does not takes negative altitudes. anyway the wait for 3.2 was as exciting as going on foreign holiday trip. hats off to devp team.


Thanks to the development team.
tested with Pixhawk Qud in strong winds up to 45 kmh.

Stabilize is OK, very stable
Loiter is much better and more accurate
Rtl very accurate
Hybried is OK could be a bit stronger, setting a bit higher.


is excellent in the strong wind. in Loiter, althold, Rtl.

Mission Planner .... 30 673

Spline not exist.
Chute parameters does not exist

will continue to test the other functions with better weather


     The method that's implemented in the mission planner only spins the motors at a low level (13% i think) for a short time.  The arducopter side is very simple though and it does allow the ground station to spin the motor at whatever speed it wants for as long as it wants so it's really up to the ground station developers.  The mission planner issues list is here.  I can't comment on when MichaelO would get to the request of course, that's up to him.

Thanks Rainer for your detailed report.


     It should be there but perhaps it's only the Beta version of the mission planner or maybe only in the  "Advanced View".  Both those options can be selected by going to Config/Tuning > Planner and check the "Beta Updates" and/or "Advanced View" checkbox.

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