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 think the PWM interface won't be supported in ArduCopter until AC3.3 (beta testing should start soon-ish though).  On the dev team we've heard good mumurs about the Lidar-Lite guys resolving the I2C issues but we haven't yet gotten any samples to test yet.  I think all the Lidar-Lite sensors being sold by whatever retailer (Sparkfun, etc) have the I2C issues.  Personally I would wait until we confirm the I2C issues are resolved.


If using sonar for altitude how does the upcoming 3.3 code deal with the baro sensor? Is it going to be just one or the other or is the baro going to take over after X amount of altitude?

What's the different between sonar and optical flow? Can the pixhawk use both? I'm very interested in how the optical flow could work for landing on a moving target in my case a boat. If the optical flow see's the boat and the boat drifts away a bit it could compensate. That would be really cool!

Also really interested in how sonar would work over water. I emailed Lidar about this and did not get a concrete answer but it was suggested it's likely to work okay if it's not too high. 

Hi all, did you successfully solve it? Tomas

Hello, guys! I'm from Brazil, computer science student and my english is not very good, so, please, I'm sorry by my possible errors in write. I have a question about the sonars which can be use in APM 2.6. I'm beginner in world of APM, but I would like know if can I use the sonar Maxbotix LV-EZ1 in the APM? My objetive is implement one algoritm simple for detect obstacles in your front and divert or lock your position (I'm still thinking about). I need use the sonar EZ1, because here, in Brazil, is more cheaper than others models Maxbotix.
I decided make this procedure like part of the my monograph, because I think it will stay cool. Thanks by the contributions of all.

Thanks for the suggestions, Richard Kennedy.

I too am having exactly the same problem. The radios are 20 cms apart and the "Timeout on read - Get Log" error message pops up and signal drops straight to < 20% ( random ) and continues to go down and then takes a good 2-3 minutes to ramp up to 95%-98% - Never 100%.

I have also noticed very frequent drops i.e. No Data received whilst quad is in air and within 30-40 meters of GCS telemetry module. 

I have tried 3DR ( SiK v1.9 ) radios as well as RCTimer ( SiK v1.7) ones - same problem. So it is not a radio hardware or antenna problem.

Running AC 3.2.1 and MP 1.3.34

Does anyone have any clue?

Disabled ECC check and downloading log works and no timeouts. But the radio range is still a problem.


currently I am still using 3.1.5 but would like to change to 3.2 because of some features in mission planning i.e. Do_Change_Speed command.

Question is: Is 3.2 stable to fly? What I see is that the developers are already at version 3.3 beta testing. From my understanding that means 3.2 is free of fatal errors just some minor features need improvement in the next version.

I am on an APM so 3.2.x is the highest version I can go but I need a safe and stable to fly firmware without fancy features that cause problems.

Grateful for any help



3.2 should be as stable as 3.1.5. I say "should" because I never tried it. I am on 3.1.5 as you are.

3.2 gives a few good features like hybrid mode, spline waypoints and EKF. To me the most important of all is the EKF but it won't work on APM. AC 3.2 will also take away some features like CLI/terminal window from the mission planner. You won't be able to download your logs as you used to do.  May not be important to some people but it is to me. So I elected to stay with 3.1.5. It is okay for me now. I may try it one day but I know that if I want to catch up with the development of the AC firmware, I need to get a better flight controller. 

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