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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could you share you ublox txt?

Jörgen, the GPS I mentioned with 5 sats was a NEO6M. I also use LEA6H and it has 8-9sats in cloudy conditions.

Thomas, I'm aware of that effect with the sats on the horizon, so my workaround is to shield the antenna a bit with a plastic yoghurt pot. So you can filter them out. I know it's strange to force a reduction of sats, but that works well on my copters.

Winston, these sats could be the reason. I recognized, when such a sat is captured the position of my quad jumps around 2m away.. yesterday it happened when sat #16 intermittently occured.

Yudi, yes at CSGshop.

Devis, yes can do it asap.

Titeuf, it runs with factory settings, config will be send on startup from pixhawk, so I didn't change.

@christian, so what i understand is Ublox-Neo-M8N is plug and play with pixhawk. all one has to do is connect GPS and compass (i2c) connectors. is that correct?

Hi all,

Ravi yes it's PnP so here is a pic of the wiring and an unbelievable new satcount :-)

red(+), blk(-), grn(compass(SCL)), yel(compass(SDA)), blk(GPS(RX)), blk(GPS(TX))

I separated the GPS wires, so you can see how they fit in the pixhawk plug..

that is awesome :). where did you grab the  Ublox-Neo-M8N?

edit: woops read up, i see it now  http://www.csgshop.com/product.php?id_product=173

ordered one - I have to try it out :)


hopefully the sats have a good navigation controller to avoid hitting each other...

Many thanks chris...I will order one
How about apm counfiguration? Could you tell me the wiring for apm? Thanks

Christian! Another problem that I noticed is, a random flashing in the reception of the satellites, suddenly the satellites do not appear in Mission Planner and in less than a second, reappear again.

so,will you use two gps?


I do not believe that the default uBlox M8 configuration file is the best for operation with the Pixhawk.

Here is a recommended configuration modification to work with the Pixhawk for Europe:

PRT (ports)


Protocol out




RATE (Rates)

Measurement Period

200 ms

Measurement Frequency

5 Hz

NAV5 (Navigation 5)

Dynamic Model

Airborn 4G

Fix Mode

3 - Auto 2D/3D

Min SV Elevation

10 Grad

DGPS Timeout

120 sec




PRN Codes


120, 124, 126, 131


TCIII ArduRover2 Developer

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