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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    • I increase WPNAV_SPEED normally to 10m/s as well, and have not had an issue with it.

      • Yes, I've flown auto at 35 m/s with no problem, so it's not something wrong with the parameter or program.

  • I have an odd situation. Before I re-calibrated my Hexacopter (running 3.2 and a Pixhawk), I was able to hover  completely level in stabilize mode a just a foot off the ground by increasing my throttle. After I recalibrated the accelerometers, compass and R/C (multiple times), it wants to either pitch forward or backward depending on the calibration when I simply increase the throttle in stabilize mode. I can takeoff to a given altitude and hold steady in AUTO mode, but when I have it LAND, the copter pitches forward and not level. Its almost like it thinks its level, but isn't. Any ideas what may be going on?

  • Hey , can someone tell me what is ERR EKF_CHECK-0 and EKF_CKECK-2 ? I flyed today and on second flight quad shoots up and do flip and props go down to the ground and bam smashed the ground from 60m.

    • Hi, read this page:

      At bottom:

      16: EKF/InertialNav Check

      ECode 2: Bad Variance

      ECode 0: Bad Variance cleared

      • i'm having the same issue on 2 machines ! both pixhawk

        100% reproducable in alt-hold or pos-hold, can someone explain what this Error exactly means ?

        Bad variance of what values ? any idea how to solve / debug it ? my solution at the moment is to turn of EFK :-(

        or if enable to switch to stabilize and fly manual.



        • Developer

          Without a log it's hard to tell, but if it's the EKF complaining then the heading is likely incorrect which could be a compass issue.  There's some documentation about it here.  Turning the EKF is not a terrible idea if it's not working for you.  DCM+InertialNav is the default for AC3.2.1 in any case.  The only thing is that EKF is generally better at reporting problems than DCM+Inertial nav so it could be a real issue which the vehicle's setup.

  • Without the telemetry radio connect you will not be able to see the error.

    The copter will not arm in Position Hold or Loiter mode with high HDOP also.

    Stabilize and Alt Hold should be fine.




  • Hi,
    i use 3.2 quad, i use default settings and done calibration all for my frame. AT home all working great, but if i go outside i have accel error: Accels not healthy. Outside is ~+5 celsius. I thing the error is from low temperature.
    Can you help me?

    • Ficu

      Make sure you don't move the quad for 30 seconds or so when you power it up. I've also noticed by carrying it around it seems to sometimes wig it out and I get that error message. I started to not to power it up until I'm outside first and zi can set it down while it boots up. 

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