ArduCopter-3.2 beta testing

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)

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –


        • Roger,

          it's possible to get toilet bowling even if the compass interference from the motors is zero.  This happens if the reading from the compass is inaccurate either because the compass is mechanically crooked or if the compass offsets are wrong.

          A quick way to do a reality check on the compass is to look at the magnetic heading on the flight data screen live in mission planner while lining up the craft with a nearby road or building that shows up on the map.  The magnetic heading needs to be right to within a few degrees.  Check the alignment with a road or building for 0 - 90 -180 -270 degrees by rotating the craft while keeping it level and seeing if when you line it up with a road, the heading line on mission planner matches .  If it looks good, tilt the craft as it would be in forward flight (say 30 degrees forward tilt) and see if the headings still match the real world.  

          If the headings shown on the mission planner map diverge from reality by more than a few degrees re run the compass calibration.  It's important to do the calibration rotations as close as you can to a constant speed.

          You can also change the offsets manually to get them line up with the real world on the mission planner map. 



        • Here is the earlier day with a very slow Drift turn, and more Hybrid testing. Here the Hybrid mode is active longer, and you can see it whirling around at an ever increasing speed. Sure, this usually stems from a compass issue. But it still puzzles me. Maybe I should re-flash with 3.1.5 and check Loiter mode again.


          • Yeah, that would be interesting you try loiter 3.2-rc2, see if the issue appears (imo, it will).

            Then goes back to 3.1.5 and compare behaviours.

            When you've moved the APM, have you kept the same board orientation?

            Maybe Randy will have the right answer.

  • Pixhawk with 3.2 rc2.


    Using new DJI E300 ESCs and motors.


    Note that the rotors do not spin when pre-arm with the safety switch.

    If I use the motor test, I must increase the throttle to about 18% before the motors will spin. Is this expected or is there a calibration or other setting missing?


    • The DJI Opto 30A + 2212 (former Set) don´t spin as well, just a very small move. Same thing with Flyduino SimonK ESC.  At former AC same behavior. I am happy with that  ;-)  Why do you need this ?

      • I don't know if I need it. Since the first firmware I can use is 3.2 (for some reason any earlier version won't work with my PixHawk), this is the first time I am able to experience it.

        So I reported my findings here in case it's important, or more probably, I have something improperly configured.


        Thansk for your help.

  • Tested today 3.2-rc2 on two quadcopters


    Everithing's fine!


    Very interesting flight mode! During fast flight copter is loosing altitude 


    Guided Mode using Andropilot App is OK 


    Follow Me now is back! Played Follow me for an afternoon and it is great!


    Auto is OK. SET ROI is now working great as you can set a target that is active for the whole mission. Very good!

    Thanks dev team for this great update!


  • Hello,

    tried a photo mission with spline waypoints. Y6 pulses speed during waypoint flight. There are photo-waypoints (SPLINE_WAYPOINT followed by DO_DIGICAM_CONROL) along the path every 50m, so copter seems to slow down when reaching the WP. How can I avoid this? Had to zip log.


  • Since my browser does not show reply for your last answer.

    Thx again for the analysis.:-)

    Since my GPS alignment is nothing special, I will check my offsets, which I didn´t yet, since everything seemed fine to me (in flight). I thought , if I ever have a problem, it might have to to with vibrations of my F450.;-)


    • 3702935429?profile=originalOk, here we go. Could be a little less.

This reply was deleted.


DIY Robocars via Twitter
RT @a1k0n: Starting on a rough guess of the track centerline as an SVG. Then I use svgpathtools to generate equally-spaced points w/ direct…
22 hours ago
DIY Robocars via Twitter
RT @a1k0n: This rules. My existing code isn't going to work *at all* -- the track planner and precomputed map are out. However, it forces m…
22 hours ago
DIY Robocars via Twitter
RT @chr1sa: Our new @DIYRobocars track at @circuitlaunch is fiendishly hard & crashtastic fun. Combines hairpin curves with an intersection…
DIY Robocars via Twitter
The May @donkey_car newsletter is out, with news about release 4.2, next events and more
DIY Robocars via Twitter
DIY Robocars via Twitter
DIY Robocars via Twitter
RT @breadcentric: Bingo card for AWS DeepRacer Finale, starting in 10 minutes on ! #AWSDeepRacer #DeepRacer #Machin…
DIY Robocars via Twitter
RT @NVIDIAEmbedded: It's #NanoFriday - the RB-0 uses the same suspension concept as #NASA's newer differential-bar rovers. This educational…
DIY Robocars via Twitter
RT @chr1sa: On May 22, we're returning to in-person AI @DIYRobocar racing at @circuitlaunch. The Amazon @awscloud DeepRacer team will be pr…
DIY Robocars via Twitter
RT @breadcentric: On my CV: Hobbies: Training bananas to race on tracks #AWSDeepRacer #DeepRacer
DIY Robocars via Twitter
RT @breadcentric: See how the April AWS DeepRacer races have ended and a couple bits of news: #AWSDeepRacer #Machin…
May 10
DIY Robocars via Twitter
RT @sunilmallya: Representation Learning +Instance Transfer to learn new reward functions along with advantage based filtering of new exper…
May 9
DIY Robocars via Twitter
Apr 27
DIY Robocars via Twitter
Apr 27
DIY Robocars via Twitter
RT @f1tenth: Sliding (autonomously) into the weekend like ... 🤖😎 #f1tenth #robots #AutonomousVehicles @OpenRoboticsOrg @NVIDIAEmbedded @Aut…
Apr 25
DIY Robocars via Twitter
RT @chr1sa: One of the problems with autonomous car racing is that watching software drive is not a very exciting spectator sport. To help…
Apr 25