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 could upload AC3.2rc11 on my APM1.0 by Mission Planner.

The result is;

1) Mediatek GPS is not recogized

2) Altitude becomes crazy, climbs up more than 50,000m high:-(

    It looks like GPS becomes crazy.

Unfortunately, I have removed compass for APM2.0.

I add some custom code in order to use the relay to control my LEDs as a voltage indicator - hence I need to manually compile through Arduino each time...


Ok, thanks for that.  I think the code has gotten too big for the APM1 so we will need to trim it down just a touch.

CPU load going crazy >2500%   in mission planner and APM planner.

with firmware 3.2rc10 and 3.2rc11, if i disconnect GPS it goes down to around 15-20%

video on bench

Hardware : Pixhawk and 3DR GPS v2 nothing else connected

dataflash from outside test & setup



Yes, the Relay should still be supported on the APM1.  The issue is that there are now up to 4 relays supported so I think in your userhook_mediumLoop you just need to change the call to AP_Relay::on() to AP_Relay(0).  Also I've updated the Relay wiki page and it's got a screen shot of another parameter you'll need to set to specify which pin the relay is using.


The PX4Flow is still not supported in AC3.2.  There is some active development going on so I'm pretty confident that it'll be supported in AC3.3 and it will add real value.

I wish 3DR would do that! That's one thing a DJi Phantom has that makes great sense. Just from the lights UNDER the quad you can know the battery life and if you have a decent gps count. 

It appears that -rc11 is just a bit too big for the APM1 (on any frame type) and on the APM2, the TradHeli code isn't quite fitting.  I'll sort this out over the next day or so.  This doesn't affect the vast majority of users.

Hi ,


Nice to see, that everything works smoothly.

Could you share with parameters list for this setup .

Hi Randy, thanks for your answer.
Indeed the vehicle was changed to altitude hold mode, and a moment after barely just started going to the left, try switching to Stabilize mode, to regain control. But it never happened, just fly away and try to lower the throttle to zero to descend. But neither happened, no command acted upon.

Sorry mi english :(

Randy, does this mean that my Pixhawk's future updates are limited by the capacity of the APM1? I thought that one of the main points of the PH was increased capacity... 

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