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've built 2 frames with a Pixhawk now, and the bad compass results are consistent. (In a sense that 1 compass is always having very high offsets). I also turned off the PreArm Compass check, because it tends to give Bad Compass Health PreArm failures. Also, not sure if it related, I find the calibration procedure quite cumbersome. I've seen the calibration dance and Randy's video about calibrating the compass, but in my case it always take alot more time to perform a live calibration. I dare not even to compare it to the simplicity of my Naza based Hexacopter..

Would it be useful to open a ticket for this. (Second compass bypass/configuration) ?

Some issue here. I cannot fly without pre-arm checks off. I wish there was a way to let the system do all the checks but skip the compass. I simply cannot get the pixhawk far enough away from the battery.  Is there a way to disable the internal completely and add a second external compass  for redundancy? I2C port? 

We need to be careful that we're not mixing up multiple issues here.  There are a number of checks surrounding the compass because it can go wrong in multiple ways but any one of them can cause a fly-away.

So there are 3 separate issues being discussed:

1. Rob's issue of internal compass offsets that make it un-useable as a backup and triggers the "PreArm: compasses inconsistent" message during the pre-arm checks.  @Sander, yes, an issue to allow disabling the compass would be greatly appreciated.

2. Sander's complaint that he's seeing "Bad Compass Health".  Is this the exact message displayed?  There's a "PreArm: Compass not healthy" but this is actually a health check and should not be related to the large offsets.  The Mission Planner may print "Bad Compass Health" if a compass's health goes bad, again, not related to offsets though I think and could be related to an actual failed compass.

3. Cumbersome Calibration.  The latest Beta mission planner is much more relaxed.  By the way, the compass calibration code is completely within the mission planner, there's no code in ArduCopter to do with calculating the compass offsets.  Feel free to ping Michael Oborne about when he plans to release the next version of the MP.

I don’t know (and if) the effects were small or big in each country/continent.


But in the last weekend we had a "Solar Storm", there is a lot of information in the net about it.


Here in Brasil (São Paulo), on Saturday (13/09)  , I tried more than 4 multis with different sizes and GPS brands, and… nothing….really bad Loiter and Poshold.


And without the information about this (on Saturday), I spent more than 6 hours analyzing the logs, and only one problem detected, small number of satellites fixed (7 or 8 satellites).


So this last weekend was a little bit different in terms of “normal conditions” for tests, mainly for flight modes using GPS.


I really don’t know if this “event” can interfere in other components as well, but here, a really cant flight as usually.


I only writing this because, I spent a lot of time to understand something that is complete out of my hands.




1. I'll review the process how to raise an issue for this.

2. I need to correct myself; I have had issues with Compass calibration by utilizing APM Planner 2.0.14, which only stores the first compass. This triggers the  "PreArm: Compass not calibrated" message. Resolution is to use the Mission Planner, not sure who maintains the APM Planner codebase, but this could be frustrating as you cannot calibrate the second compass. I'm not enitrely sure what PreArm failed afterwards; Looking at the code the "PreArm: Compass offsets too high" could only be triggered on the Primary compass. I'll retest and report back.

3. How do I switch to the beta Mission Planner? I'm running 1.3.10 build.1.1.5369.11976.

When you launch Mission Planner you can click on "Help", "About" and then "Look for Updates".  (that's from memory, I'm at work :) )


OK my tale of woe playing 3.2 rc 9 here http://ardupilot.com/forum/viewtopic.php?f=100&t=9673

I have probably committed several schoolboy errors I am not a multicopter flying blender person. That error message happened in two separate boards.

I would be ever so grateful for a look at the bin file over on the link. TIA

The exact message is btw; "compasses inconsistent".

yep, same thing here!  one of the internal compass offset is around 500. 

I noticed the exact same thing

Here's a test flight using 3.2 rc9 on a helicopter, testing high speed waypoint flight.  It did pretty well. ;)

I'd like to open up 3.2 rc beta testing to other helicopter users at this point.

I don't fly helicopter but that's very impressive. Dang it's fast! Great work! 

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