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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You need the beta of MP to  see Pos Hold

Craig, is it possible with MP to detect the version/build of arducopter code and check if the installed MP version is compatible with that firmware.

If not, purpose downloading the right one (it could be upgrading even downgrading for example if lastest MP version would not be fully compatible with previous AC version... normally lastest MP version should be compatible with every AC FW).


If the CLI still functions in your version of ArduCopter, then you can use the CLI to see what version is loaded on your flight controller. Otherwise you can down load a data flash log and you can see the version by viewing the log.




I just checked and the "stable" release of MP right now is 1.3.14 build 1.1.5436.9174 while the Beta version is 1.1.13 build 1.1.5432.12651. Not sure what's going on there.


Nathaniel ~KD2DEY

Thanks Thomas but my question was more to automate the detection in MP that would automatically update if required. That would avoid people missing to update MP and wonder why some features have disapeared.

That kind of issue is quite common on this thread, that's why I think is would be worth to include that auto-detect in MP


I had a look at your logs (sorry for the delay).

I guess the issue is that it's wobbling a lot in roll and pitch during loiter.  It looks like the  HLD_LAT_P parameter is set to 4 but the default is 1.  If you return it to it's default I think it'll be ok.

MP is compatible with every MAVlink enabled system and can detect which version of code is running in a vehicle if the vehicle sends it to the planner.  MP does track some features on a vehicle by vehicle and version by version basis.  That is why it asks what version you are running prior to a compass cal or accel calibration but in general it is very difficult to track what features are enabled in various versions of the code and it is not really a very good investment of Michael's time to write that kind of code.

MP pulls features from automatically generated XML files with either stable or Beta tags associated with them.  Currently Copter 3.2 still has the Beta tag on it and so you need the beta version of MP to access the beta parameters descriptions but if you are a sophisticated enough user to be loading and testing beta firmware then should be a sophisticated enough user to go to the parameter description


look up the parameter number for Pos hold and enter it into the field.  If you are not sophisticated enough to do that then you are best off spending enough time to become that sophisticated before operating beta code.  

By the end of the week 3.2 will be a full release and the beta tag will be removed and the Stable release of MP will display all the modes automatically.


The circling is normally caused by a bad compass heading.  I don't immediately see a problem with the offsets or orientation.  If you're using an external compass and it's well away from the power wires, the compass-mot could be making it worse so you could try disabling that to see if it helps.

I guess the vehicle stopped at one of the waypoints?  the issue may be that the speed needs to be filled into the second column of the do-set-speed command.  The column has changed since AC3.1.5 (which had it in the wrong column) and it seems like the MP labels are also incorrect.  I'll ping MichaelO about this.

Yep, that and the update prompt got me again today!

That means Michael pushed a change to Master but has not updated the Beta branch in github

With everyone talking about calibration and ways to do it does anyone have a set of ranges we should be looking for? There are many ways to manipulate getting numbers but which ones are right? Is it still anything below 250 is good?

Although I'd say that AC3.2 is no longer beta code..

I'll be promoting AC3.2 to replace AC3.1.5 by the end of this weekend in any case.

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