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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Here's more data on the Minimum OSD Extra not working with PixHawk 3.2 rc2.

It seems the minimumOSD extra relies on certain settings in the SR2 registers. I'm not sure if the current default values are from the APM, where the minimumOSD shares the telemetry port with the 3DR Radio, but they are not setting the SR2 registers properly on the pixhawk and the new minimum OSD extra firmware.

It would be good if the pixhawk and minimumOSD firmware teams could coordinate to be sure the default parameters for the telemetry2 port is set correctly so that the minimumOSD will work out of the box without a lot of help (as i needed to get this working).

What do you mean by not working?

Does not engage? engages but copter does not consider your stick inputs? or just the problem with alt_drop that is not related to hybrid but more generally to every throttle_controlled modes (Alt_Hold included)?

Same with drift, please more details


Regarding the first part of your response, will this feature work prior to engaging auto with AC3.1.5 or not at all? I'm a bit hesitant to switch to AC3.2 until it has been released as I'm very happy with the current firmware.

With regard to "Do Jump" , if the mission is 3 flights long, adding a DO JUMP at the beginning to set the first waypoint, then at the end DO JUMP to the "RTL" at the end of the mission should work or am I mistaken?

Once again, thanks for the response and for all the help and development!

Hi Julien,

to be more exactly,

when I switch to Drift mode the copter seems to switch into that mode (tested in MP) stick input forward and backward gets executed but the roll input is ignored. In Hybrid mode the problem seems to be related to the alt_drop, that mean every time the copter slows down(break) it looses altitude.

Auto tune mode seems like it getting executed in slow motion. It took about 6-7 minutes till finish.

hope I made it a bit more clear for all to understand, 

If you are using a pixhawk make sure to do an accel cal since the EKF will use both IMUs now

Dieter,are you aware some of the functions can be off on APM bcs. of memory restrictions?

I think they have a memory-problem-.
delete the EEprom on the Arduino software. (eeprom_clear)
install all new, and it will work

ok danke dir, werde ich machen sobald ich wieder flugfaehig bin. the copter crashed wit a ESC problem today :(

I have made adjustments and recalibrations to my tricopter platform and done more testing with 3.2rc2. Hybrid is working very fine now, I really like it! One thing I've seen mentioned here somewhere, is that the tricopter does not spin down to armed throttle speed when landed in Hybrid or AltHold modes. Instead it seems to keep the min throttle inflight setting, which is a much higher RPM. Once I switch to Stablize, already on the ground, it goes down to armed state, and automatically dearms after 10 or so seconds. In the other states, it never dearms automatically, as it seems it thinks it is still in the air. This includes having landed in an Auto mission.

Today I flew this auto mission here:

It went overall just fine. I am not an expert in programming missions, so maybe TAKEOFF is not meant for a Tricopter mission. It did not take off when switched to Auto on the ground, but it went just fine after having lifted in Stabilize and flipping to Auto after that. A few things I noted:

1. As it headed back home, it kept facing away from home. Isn't the default behavior, if nothing else commanded, to face towards the next waypoint? I seem to remember reading in the 3.2 release notes there was a fix where 3.1.x could be up to 10 degrees off. Please check this.

2. Once it headed back home, there was a number of quick roll adjustments that were very "digital" (twitchy!), not smooth at all. Not really oscillations either... But it make the footage jumpy a number of times. It was a very calm day. Please check into that as well. It only happened when flying backwards home, it didn't seem to occur when flying forward as in the beginning of the mission.

3. It did not follow the path the Mission Planner displayed back home. Although I used SPLINE_WAYPOINTs all the way, except for the first TAKEOFF and the last RTL one, Mission Planner displayed a sharp 90 degree turn at waypoint 10 above, but in reality, it flew straight towards home from waypoint 8, or maybe even from waypoint 7.

[EDIT: I see looking at the log that the radio fail-safe was activated, and since I have it set to RTL even during a Mission execution, it did exactly that. This explains 1 and 3 above - so I guess that leaves nr 2 above to be looked at!]

I will post a YouTube video of this to make it even easier to follow. But I am on the countryside with a slow connection. I will post a reply later tonight when it is uploaded for you to check out! For the meanwhile, I am attaching the logs here.

P.S. Can someone suggest how to tweak settings for Drift mode to make tighter turns? Or we wait for a future rc-release?



      I saw bug in Guided mode when click is "Fly to here Alt" on the map. After, I had change Altitude in command. It turn heading to 90 degree or Eastern every time. please you can check from my log. 


Here's the onboard recorded video of the flight. I love the smoothness of yaw movement with the spline waypoints.

That being said, in the initial part where the automated mission was executing, there are "jumps" in the motor RPM, that maybe are co-inciding with the waypoints as being passed? It also causes unneccessary disturbances in the video. It was a very calm day!

And finally, as the tricopter headed back home when RTL was activated, why does it not yaw to change direction towards home? Instead it flies backward home. Just asking, I thought it would be more natural to turn around. To rise first (I saw the discussion before) is okay, but then it should turn towards the desitnation, I think. Any reason why it doesn't?

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