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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Hi Manuel,

Line 13476 "Battery failsafe"

Could this be the cause of land?


Hi Miguel,

That line 13476 you're referring to is on the first log 2015-01-27-16-29-42.log which relates to FAILSAFE_BATT indeed and caused RTL but it worked fine, RTL went to it's final altitude of 2.5 meters

However, on the second log (FAILSAFE_BATT kicked in at line 14111) and engaged RTL but the quad tried to land instead of staying at 2.5 meters altitude. This is the thing I cant understand...

Okay thanks.. 

You're right Manuel I was looking at the wrong log.

So it went to RTL then it changes to loiter and DAlt changes to zero only when flight mode changes also to stabilize.

Alt seems right...

I wonder if AC is getting a 3 meters high altitude reading although it is at land level...

Looking for experts reply :)



Nice analysis.  On that last part I can help.  If the failsafe is a radio failsafe (i.e. tx/rx lose contact) the RTL will land instead of stopping at the RLT_FINAL_ALT because if it stopped at 2m the pilot would have no way of commanding it to land and it would just hang there until the battery ran out.

@Randy, Hi

Didnt know that RTL worked that way, good to know :)

However, the failsafe that was triggered was FAILSAFE_BATT , so it's not a radio related problem.

So I cant quite understand why DAlt went to 0, it was like RTL was meant to reach an RTL_FINAL_ALT 0, when it wasnt set to 0.

Yes, I tried to change modes while it was landing because I dont like my copter to land all by itself on concrete, as it always likes to flip over.

So to prevent that I changed mode to Stabilize/Loiter (cant remember) but the quad was almost hitting the ground when I did that.


Hi George Randall,

Sorry I didn't see this. I have had a look and two things look strange here. The first is that it looks like your alt hold altitude didn't reset to your current value before you took off again and also your autotune values seemed to not have an effect past a point.

I hope the new autotune will not have this problem (if that is what it is).

I am looking over the latest alt hold to see to make sure it shouldn't do what your logs suggest the old code is doing.

i'm having the same issue on 2 machines ! both pixhawk

100% reproducable in alt-hold or pos-hold, can someone explain what this Error exactly means ?

Bad variance of what values ? any idea how to solve / debug it ? my solution at the moment is to turn of EFK :-(

or if enable to switch to stabilize and fly manual.



Without a log it's hard to tell, but if it's the EKF complaining then the heading is likely incorrect which could be a compass issue.  There's some documentation about it here.  Turning the EKF is not a terrible idea if it's not working for you.  DCM+InertialNav is the default for AC3.2.1 in any case.  The only thing is that EKF is generally better at reporting problems than DCM+Inertial nav so it could be a real issue which the vehicle's setup.

I have an APM with a bad sonar analog input 0.  I changed to analog input 2 with parameter RNGFND_PIN=2. However flight data user values sonarvoltage and sonarrange are displaying random values. Are there any other parameter changes required when relocating the sonar from one pin to another?

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