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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Randy, you are a busy guy...  Many thanks!


Randy, 30C is way more than enough for any normal multicopter operation. Turnigy's new "Multistar" LiPos made specifically for multis are 10C. I and a friend have been flying them on 550 class quads with no issues at all. The lower C ratings result in lighter batteries and less cost - a win/win. The only cautions would be regarding sustained aerobatic flight, which of course may require higher discharge rates, and the tendency of "brand X" battery makers to overstate the true C ratings (so stick with known brands).


I made a video for you so you can see what i mean with the wobble and the issues with land.

Thanks for the answer, with a GPS tool APP i realy confirmed that the infernal GPS works and hat a3D fix. 

So you was able to usw the followme mode? Which APP do you usw?

When I have either RTL or LAND on channel 7 or 8, neither my quad or tricopter will disarm upon landing. Just like the video- the motors stay in high idle and it appears to be trying to stabize itself but not with enough power to lift off. I'm not getting the wobble though. I think your wobble is coming from the the effects of the ultra-soft/wobbly landing gear.

If I set RTL or LAND to one of the flight modes on channel 5 it will disarm upon landing.

i use droidplanner2. v2.7.8 support ac3.2rc10.

on my  galaxy tab2.

Hi Johnex,


Looking at your video, it appears the problem you maybe having is the design of you tricopter. 


While in the air, the copter is smooth and the pixhawk is measuring X,Y, & Z axis just fine. 

However, it seems that the landing supports and frame arms could be too thin when sitting on the ground and is causing the accelerometers and gyros to detect movement/vibrations and is attempting to compensate by ramping up RPMs and reading more and more vibrations due to frame instability.  Have you tried different landing gear and or a different frame to see if you are getting same results?

I had a crash here while about 30 meters up. The quad tipped to the left while descending in alt-hold mode and could never fully recover.  I don't see a voltage problem, and the failsafe was triggered because I had turned the RX off earlier in the flight.  Can anyone take a look?  I don't have enough experience reading logs to see anything else.


Hi Doug!

I know that the wobble is caused by the soft landing gear, BUT!

There was no landing issue with that in 3.1.5. The copter lands and a second later it disarms and motors stop totally. So its clearly the new landing detection that isn't liking the movement.

If you check the post above yours and a couple above also, other people have issues that don't have soft landing gear like mine. And since it works in 3.1.5 then we know what it does not matter how soft the landing gear is, the software should be able to work with all the DIY designs people have come up with.

I know people that land on water with skids on 3.1.5, and for them on 3.2 any slight sea movement will prevent a disarm like for me.

Adolpho, I am in the same situation as you. I have a QR-X350 frame, with an APM and after autotuning, notice also has wobbles when descending (special in Auto).

Any idea how to fix it?

Well, it's the same thing at the end but I don't have a apm inside the 350 but actually have the devo-m running apm firmware.
Regarding the wobbles, I'm learning all I can about pid controllers to manually tune the 350 pids. Autotune does not work on this frame.
But my first impressions are that the 4.5 values on the stabilize are too high.
Second find is that the roll and pitch values will not end even close to symmetrical.
This weekend I'll try another tunning session.

Dido for me tried it today on a galaxy III mini worked fine. It took a few seconds for it to work itself out but then worked fine. 

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