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 was referring above specifically to the HK pilot micro here, the hardware is similar to the APM 2.5, so the compass setting is the same if the flight controller and GPS are in the same relative positions.

Not sure where i got this phobia of Channel 7 being bad, maybe a bad dream or something? but thanks for your response

is this a Pixhawk only or will that be for APM 2.6 as well? that is good to hear!

Wow that's slick! 

re-- b) I2C bug that could lead to Pixhawk freezing up if I2C bus is noisy

Could this 'noise' be caused by a crappy China external LED? What wold happen when the puxhawk froze? Unresponsive and drift away or flip and crash? 


I'm seeing a problem where my copter will develop a slight lean one way or another during flight It's most visible when in Alt Hold or Stab.

I have ch7 set to save trim, so I will adjust the trims while flying till it no longer drinfts (on a calm day), land, disarm, flip ch7 for half a second (MP says "trim saved") then zero the trims and take off again. This generally causes the lean to temporarily go, but after flying for a few minutes the lean will eventually come back, and it's not always in the same direction.

Does anyone know how to solve this? I have a log of the last flight where It was doing this, and I ran through the save trim process, but can't seem to see the ch7 switching in the log (RCin ->C7) which I know I did.

Running a pixhawk on 3.2 on an s900. Pixhawk is mounted on a 3d printed omnimac mount. Are these still recommended to use?


Pixhawk and hexarotor seems to behave properly (3.2)
APM 2.5 and (3.2) behave properly on a quad.

Would like to use the LightWare SF02 as an altimeter.

added a file called etc/extras.txt onto the microSD card with this content:

sf0x start

mavlink start -d /dev/ttyS6 -b 115200 -m custom

mavlink stream -d /dev/ttyS1 -s OPTICAL_FLOW -r 2

But I believe this is more for obstacle measurement.

Is there a way to use the SF02 as an altimeter? 
Thank you in advance


This may have been touched upon already. Have a start stop issue  in forward flight when in auto mode and guided mode. Did not have this issue in version 3.1.5 but showed up in 3.2 & 3.2.1 Beta. Same vehicle same settings other than the new features of the firmware.

During forward flight the vehicle will all of a sudden jerk itself back to slow down or correct and then continue in forward flight. Almost like the Inner loop gains need tuned but does not seem to make a difference if you do tune.

Was wondering if anyone else ran into this issue and new of a setting that corrects this or if this could be an issue of the secondary sensors that are now being used (seems to be creating issues from the blog notes)


Just for fun, run a log file through this app


It will be Pixhawk only, because 3.3 will not be published for APM.

Well, back 3-4 years ago, Ch8 was very very bad, as I believe it put the system into straight RC Pass-through.  This was from the APM1 days, since it was originally designed as an airplane controller.

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