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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Comparing the Alt from AHRS2 (EKF) and CTUN (DCM) it looks like even the EKF would have had a hard time (both show a massive drop in altitude).  Still, I suspect the EKF would have handled it a little better and also the EKF is able to tell us when it thinks things have gone wrong.  We don't take advantage of that yet for the Z-axis but we do for the horizontal.  I imagine in AC3.3 (?) we may add some additional safeguards to catch these situations and maybe revert to a baro-only alt hold just to get the vehicle down.  I can't promise anything but we can try.

Thanks Randy, is there anything else I can do to mitigate this type of occurrence? Have had a few flights now with different damping mounts for the Pixhawk with no problem so far but would really like to avoid a re-occurrence, not good for my heart rate or the spectators' :)


No I didn't check with Acro Trainer, I'll give that a try.

I've found and fixed the CH6 tuning for wp-speed and it'll go out with -rc13.  Thanks for that report!

4.7k resistor (in the positive=signal line on the receiver side) and 10uF capacitor (bridging ground and signal after the resistor). See here also to get an idea about the wiring with a nice picture http://copter.ardupilot.com/wiki/common-rssi-received-signal-streng...

I use this setup with pixhawk and DTFUHF (openLRSng), and it works fine. RSSI_Pin:103 and RSSI_RANGE:3.5 in my case. You can tune range untlil it matches what your transmitter telemetry is telling you.


I'm trying to manually deploy a parachute with Ch8 to test it before takeoffCHUTE_ALT_MIN is set to zeroBut I get a message "Parachute: Too Low"

So can you connect directly without the resistor or capacitor?

If you dont arm the copter or the copter think it is landed, parachute will not release and message is "too low". Try arming the copter and raise it a bit if your baro drifts

Randy, I tried an Auto mission but it was awful, mission height was 20m but the quad zoomed up to 60m by the 3rd waypoint after flooring the throttle. It seems that if my z-vibrations deviate slightly the quad goes completely out of control vertically. Have you ever seen this before?

Going to have to figure out why my z-axis goes beserk. The quads behavior when it does is very disconcerting!


Well went out to test today and at 50 seconds into a hover the multirotor just climbed at full throttle to about 170m and cut off, I tried loiter, rtl and back to althold but no reaction to gain control.

Quad spec's:  600mm quad, pixhawk, 25amp quattro esc, 3508 580kv motor, 13x5.5 carbon props very well balances as I recheck for this test, 5300mah lipo and auw 2.4kg.

Was monitoring the live vibration graph while in hover and nothing until it took off, shutdown and came plummeting down to earth . On rc10 it would be fine flying slowly but pick up some speed and the vibe woulds spike in z acc and it would climb to 25m or so and the I could get throttle control and get it down slowly.

The 170m crash happen on rc12 fw i loaded last night, this seems to be similar to Graham's throttle spike problem. My quad is wasted man!!

Pls have a look at the log file.




for Taranis X8R receiver it works without R or C. easy direct connection.


sorry to hear about your crash, but be aware that we are testing beta RCs. Could you upload the .bin or .log file?

Sorry load wrong file before.

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