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)

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          • If you use a telemetry RC radio like FrSky (or JR or Spektrum) be aware that having one or both 'receiver' antennas within 100mm of the side or top of a GPS module can cause desensitization because one or both antennas are transmitting as well. 

            I had this issue myself with a NEO-6M until I moved them below the copter. You would assume that 2.4Ghz would not desensitize a 1.2/1.5Ghz GPS but my testing showed that it can.

  • Hi Randy, just uploaded rc7 into my machine and about too head out to test, it had a calibrate compass message, which I did and the warning has now gone away, quickly scanned the parameters and I notice my second compass ID is not -1.  Is this still ok to fly?

    • Developer


          Yes, from -rc6 onwards the internal compass's ID has changed to 131594 (external is still 73225).  Sorry for the troubles.

      • Excellent, all is good, going out to fly.

        • Hi Randy, rc7 flew fine, tested most situations with no problems thank you.  Having trouble tuning out glitches/wobbles during forward flight.  Can you tell me while flying downwind, the quad is as smooth as silk, but when I turn and fly into wind it had wobbles and glitches everywhere.  Have you seen this happening before?  The pixhawk is out in the open, am I getting airflow disturbance over the sensors?

    • Device ID=73225 Device ID2=131594

  • Every time there's a new fw, something is missing up in the Mission Planner. This time PosHold flight mode!
    • Developer

      I've checked both the lastest Beta and the latest official MP and I'm seeing PosHold.  Beware that if you install from .msi that it'll be an older version that's installed.  Best to push the Help, "Check for Updates" button after installing from the .msi.


  • Forgot to attach my log. Here it is:


  • I've had a bit more of a play with my micro 250 copter running 3.2-rc6 and have a couple of questions.

    1. It seems to fly fine in stabilize and Alt Hold but when I switch to Loiter the motors sound odd and it's a bit jumpy. I looked at the logs and you can see this on RC Out 1-4 when I switch to Loiter mode. Is there something I can do to improve that?

    2. When I arm the copter Mission Planner displays two errors, 'Bad Flash' and 'No Terrain Data'. I haven't seen these before. 

    3. If I try the Auto Log analysis in Mission Planner with any data flash log I get the following errors:

    'Test Underpowered' object has no attribute 'enable' followed by 'Bad Input File'.

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