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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  • How do I completely reset an APM 2.6 running ArduCopter 3.2-rc10?  My APM is doing crazy things with my quad, and I just want to reset everything to factory.

    • Developer

      The above ways work but the easiest way is to use the MP's Config/Tuning >> Full Parameter List page's "Reset to Default" button.  If this screen isn't visible when connected you may need to go to Config/Tuning >> Planner and check the Advanced checkbox.


    • What I do is to update to plane and them arducopter, when you change vehicle I understand that reset all.

      • Thanks guys. I considered doing this, but wasn't sure if it would work. I appreciate the validation!

        • I do like this to update to 3.2 rc10  and works for me

          • Is the horizon in the HUD stable ? Is compass health okay ?, If not then the 3.3V regulator (Package: SOT-23-5) has blown, replace it but if not then in mission planner do contrl+F, there is option to wipe the EEPROM, you can try that and give reset to the APM.

    • One sure fire way to make sure everything is gone is load Plane or Rover on it and then re-load Copter.

  • Hi,

    i did some testing and here are the results after 3 lipos. I did the compassID trick to avoid a new calibration.

    (EKF off)


    Althold: OK

    Land in Althold: 2x OK(motors shuting down nicely after land), 1x fail(touched ground bit to hard-->motors spin up-->switched to stabilize)


    Poshold:OK, very smooth breaking

    ResetToArmedYaw function missing

    Thanks DevTeam!!

    Pls see one flight completely in PosHold:

  • I have completed multiple auto flights in the last week and all seems to be working very well. one thing I have recently noticed is that sometimes it will yaw to the next waypoint and sometimes it will not. I have verified in the parameter file that it is set to yaw in the direction of the next waypoint, yet sometimes it still does not yaw correctly. Has anyone else experienced this while flying 3.2RC10 on a traditional helicopter? 

    I will put a log file together showing this.



    • Hi Joe, I have not noticed that myself.

This reply was deleted.