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 –


    • Is that jitter on 0:24?

    • Wow...great video...I want my y6 fly like that autonomously...last pass was very near tower, you have nerves of steel...

    • that was an awesome flight pattern!! I commented on your Youtube video, but thats Tampa Fl, i live there as well!

      • Yep, Tampa FL, its the Sulphur Springs Water Tower.  If you want add me as a friend and maybe we can meet up and fly.

        Here's the final cut, but I don't want to tie up Randy's 3.2 thread so just send me a message.

        • Developer

          fantastic video!  I've made it the main video for the discussion, hope that's ok.  There's a link to the earlier EKF video down in the release notes portion.

          • Sure, glad you liked it.  I flew the mission 2 times and both times spot on, close pass worked great, reproducible and very accurate.

    • Great test!

      The pitch of the gimbal was adjusted manually or directly by controller?

      • Manually pitch on the gimbal

  • I wish DIYD had a "like" button so I could "like" the first sentence in Paul's reply.

  • Just loaded Arducopter 3.2rc2, do I have to do a auto-tune or leave everything as it is?

    was reading true the discussion but couldn't find or overlooked it. I upgraded from 3.1


This reply was deleted.