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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That was really impressive! :)

Good job Rob!


I don't know what I'm more impressed with the great smooth auto run or your camera work! That's not easy zooming in on a dot in the sky going that fast! 


Tested RC9 with new Pixhawk today, The built in compass is getting offsets of -6 61 and 503.
Anyway to ensure the internal compass won't be used? My 4 in 1 ESC with the heatsink is right below the pixhawk I am thinking that may be causing this high offset?


Been using 3.2 rc7 and all is well even follow me using Nexus 7 with 3d radio and droid planner 2.6.

loaded 3.2 rc9 and now I can't get follow me to work. The quad just starts to circle. Any idea ? or

do I need to ask this ? some place different ?

APM 2.6

DJI 450 frame

Hi Rob, I really enjoyed your video of autonomous flights of Trex500E with AC3.2RC9. Would you pls share your build wiring details and your parameters.

There is some info on this subject on page 134 of this thread. 


I have a job to do tomorrow and I cannot get the pixhawk to trigger a 3v micro relay .. I get a momentary 2.8v/3.0v signal out of Aux 5 pin (54 I think its set in MP) when i flick the radio switch ..BUT, when I connect it to my relay no voltage is seen with my test meter .. I suspect the Aux pin which supply's the 3v signal does no have enough amps to activate the coil on the relay ..hence the voltage is killed..! this relay is used to trigger my NEX 3 via the multi port .. It work s fine if i apply 3v direct to the relay coil ??


Man in need of help 


First thought to get you through the day:

Put in a much smaller relay to relay your relay.  Use a relay (or transistor) with a tiny current draw to flip the switch on your micro relay.  Just thinking in print.

Are you providing a +5v supply (eg from a BEC) to the aux power rail? It is needed to operate relays or servos from these pins.

Does this include the standard aux1 gimbal control?  I couldn't figure out how to get this to work, using a multimeter I could only see a tiny range of voltage (0.18v-0.36v off the top of my head).

Hi .. no I am only using the relay as a on off switch so no need to power it .. I am only using the 3v signal (bottom pin) to latch my relay coil.. and return earth of course to complete the circuit. 

I yes i think this may be the way to go .. using some pnp and npn transistors ...maybe they wont pull the voltage down ..

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