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's probably a good idea. 

In the past, I always disarmed when the copter was close to the ground to avoid having it flip during the auto-land process. Looks like I still need to manually disarm after it has successfully landed (or automatically disarm when I receive the LAND event, which comes in as MAV_STATE_STANDBY.) Looking through the code, it appears that the throttle has to be at minimum to automatically disarm after landing has finished. 

I've disabled the FS_THR_ENABLE so that I can fly the mission without an R/C. I enable AUTO mode by manually overriding the R/C throttle via Mavlink and increasing the throttle a bit.  I do enable the FS_GCS_ENABLE so the copter will RTL if the telemetry link drops.

I am with Darrell on this one. GCS failsafe shouldn't have kicked since the copter was on the ground...

Waiting to hear Randy's response on this...

You will need to decrease I value, this should help against pulsing

Interesting, please post logs here.
Personally i've hundreds of flights with this release without problems.


I am having similar problems - frequently.

Jonathan suggested it might be "EKF kicking on in-flight, causing a step-change in altitude". For some logs and discussion see:




what ESCs are you using?


Ok, so thanks for finding and reporting this.  The GCS failsafe is not checking that the vehicle is landed (most/all other failsafes do).  It has other checks like "is the vehicle within 2m of home" and "is throttle zero while in Stabilize or ACRO" but it's missing this landing check.  I've raised an issue here and we will fix it for AC3.2.1 or AC3.3.

Another issue uncovered here is that the GCS must have overridden at least one of the RC channels which shouldn't be necessary if all the user requested was that the vehicle land. This should be reported to the GCS developers, was it MP?

Thanks Randy!

In the mean time I'll set the throttle to minimum during landing and disarm upon getting the MAV_STATE_STANDBY state. (Its a custom GCS.)

FYI.  I put in a request last week and the latest MP now displays the MP and Aircraft software versions in the header of the MP when connected.

I'm using DJI E600 Package.

6S 20A ESCs and 415kv motors.

Hi Marco,

I will post the logs soon as I can. I am away from the quadcopter.

However 'Thorsten' posted a discussion concerning the issue, it looks like the same problem I had.


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