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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Is SBus RSSI input 0-5v working with 3.2 and the pixhawk?

Here are the logs, I rolled back to 3.1.4 to get them, then went up to 3.2 rc1 and I am getting the exact same as above.

Anyhow I got the logs, back to the initial issue, changed to GPS mode and it flew away from me,


here's my flight log #1


here's my flight log #2


here's my flight log #3


Edgar, go to the first page of this thread and Randy has posted how to get them from the flight data screen.

Great addition!

Thanks, got it, works great, I attached that log from 3.2 rc1 download but I assume its the same.


HDOP was okay

You can also see where it took off when I changed to mode 16 (Hybrid)

here's my flight log #4


The Roll/Pitch problem came when Hybrid engaged Loiter (when DPosX/Y are updated).

We can see here the Copter rolls away its target position instead of maintaining it.

You had no stick Input and the GPS was great so, maybe, check a compass issue.

If the copter thinks he's goind to North but actually flies to South, that could, imo, bring that kind of behaviour.

Please give another try to hybrid and also Loiter.

Check as well your param values.

Hi Randy, 

I noticed there's an EV = 28 in my log which was not define ardupilotwiki.

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