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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This is most likely because of a fix in AC3.2 which stops the target point from getting too far ahead of the copter or maybe it's because you're using spline points?  If it's spline then I'd expect the issue to be resolved with AC3.2.1-rc1.

It's probably best to include a log of what you're seeing so we can be sure.


Instructions are here to setup the SF02 range finder.  No need for anything as complex as modifying the startup files.

DOH!!! thanks Rob!!

HA! thanks i knew i knew that from some where

Thank you for this link, Randy. Unless I am confused, this link shows how to use the analog output of the SF02 and use it for distance measurement.. (I may be wrong) The SF02 has a uart and a very nice processing of the analog data. 

In any case, not sure if the link you mentioned is actually used to get altitude (instead of the baro) in the pixhawk?

Thank you in advance.



We only support the analog interface for the SF02.  The altitude is used for surface tracking while in AltHold or Loiter so it maintains a desired altitude above the ground, it's not used as a replacement for the barometer for the altitude because it still needs to maintain a separate altitude above home.


It would flip and crash.  It would look like a brown-out because the logs would suddenly stop.

I'd like to follow up on this:

The hexacopter is now flying amazing. 

Our Accel Z was between +3 to -20! no wonder why it flew like crap. We had trouble with cold weather making the vibration absorption foam here, so we bought an AVdome from uavobjects.com, and it reduced our AccelZ to -8 to -10. 

Now it flies great. No more altitude issues.

Hi Mike. We actually replaced the #1 motor, due to it not keeping up sync, and.....

We found few wires broken, and the entire center support shaft was destroyed. It must have gotten an hairline crack during one of our hard landing on previous flights and went missed, and reared its ugly head during that fateful flight.

We have since replaced the problem motor, and will be testing it again tomorrow. 

Your intuition was correct. #1 motor was working harder the entire time, due to added stress. you can see where the iron core was rubbing against the bell housing, and grease marks where the crack was.

It was impossible to spot the damage on the motor, as preflight test (grab and shake) didn't show anything out of ordinary, and first initial hover showed nothing wrong.

Lesson learned. Next time, any hardlanding/crash, we will do a through dissection of each components before using them again. 

Thanks again Randy.

Does this works above water? (never tried so far SF02 above water)

I'm having a peculiar issue with our now-revived Matrix quad copter.

I set the log bitmask to 894 on the pixhawk, to get Default + RCIN

However, our log isn't recording. So I deleted all the logs on the pixhawk through terminal, and flew for 5 minutes landed, disarmed, and armed, and another 20 minutes on the same battery, testing various modes, such as ALThold/loiter/RTL and failsafe.

This is all we got. 5 minutes worth of useless log. This is weird. this is a brand new pixhawk, and I just got it setup...
Please advise.

Thank you


Just ran through the app.

Seems to be a very useful program. Only real issue it came up with was:

Error: The total number of sustained loops 4000

03/ APM Speed Error: This is above 5% of the total loops!

Looked at the log bitmask setting and it was set to a very high number not listed under selections. Not sure if this can cause major issue but we set to default.


Will be uploading the logs so you guys can take a look.



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