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 –


        • Doug,

          I had a similar problem with my Y6 trying LiIon cells - lower motors always at ther thrust limit.

          I had 14 x 4.7 props on all motors.

          I now use 13x4.5 on upper and 14x7 on lower motors, so now they have all nearly the same thrust.

  • Hi,

    Loaded RC9 a few days ago, flew great! I did a quick FPV yesterday and was nice. It was a fresh install and all calibrations were done.

    Decided today I would go for a good FPV flight and I put it in POS HOLD while I fitted my goggles and I started climbing in POS HOLD then all the sudden things got wonky, I tried to come down, flipped to RETL but I had some issues and then when I switched back to STAB it just wouldn't listen and and above my head i could hear my motors accelerating and it was going higher. I took off the goggles to try and watch it and bring it down but it just kept going up. I am thinking I had baro issues but not sure! I kept trying to switch between stab and RETL and had my throttle super low, (finally it switched to Stab and although I couldn't see it I saw in the monitor it was flipping and falling. I tried to spool my motors up but they couldn't grab.

    In the end it landed in a forest and it was very high up! It landed maybe 300 meters from where I was and just by luck I ended up finding it by trying to spool my motors. with arming it.

    Luckily I am an ok climber and went up with a buddy and retrieved it!

    PS It was windy today!

    Issues were around 1 min mark to 2:30 then you could see me arming it over and over again to hear the motors.

    2014-09-20 14-26-47.log

    • Glad you found it!!!!!!!! Hey what gps were you using?

    • After looking at it some more, I see my CH8 which is my PWM RSSI drops below 1500, (another issue I have been trying to fix) I think that may be the culprit in causing some issues. but not sure. Let me know if you guys have any feedback would love to know.

  • Maybe I found a bug. In Auto, LOITER_TURNS works perfect when Dir=0 (25 m radius circle clockwise). If Dir=1, it rotates clockwise but radius 0? I read manual and see, that for counter clockwise rotation Dir may set to -1. I not tried this...

    • if it is a bug, please leave it. I Like to have Loiter_turns with 0 Radius:-) I was looking for that . I´ll try it out when at home!t

      But I found a bug in Condition_Yaw. The Parameter relative or actual is always actual Heading (rel/act;0/1).

      • I tried DIR = -1. Also turns clockwise with 0 radius.

  • Hi Randy and Dev Team

    tested today RC 9 Pixhawk

    Guidet Mod    OK no problems
    Follow me      OK no problems
    Landen no problems motor switch off
    Auto Mode OK no problems

    I could find no errors. the version runs very smooth


    • Rainer are you using APM 2.6 or Pixhawk ? also are you using DroidPlanner  Beta 2.6 for follow me ?

      • Whats Droid Planner 2.6 Beta? does it work with AC3.2?

        Also where can i download it for android?


This reply was deleted.


Shivchand Jaysaval liked Shivchand Jaysaval's profile
Aug 25