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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      • thank you - this is about 15 miles from Lake George, NY.

  • I don't know if this issue been reported before but....if you try to arm multi(Pixhawk) without pressing safety button,you cannot arm,only short sound..but if you press button afterwards and arm,throttle response is totally uncontrolled...disconnecting batt is solution to exit that strange it just me or....?

  • Hello RANDY @ development team

    an error in 3.2rc2 Pixhawk.

    turn on EKF Armed flight OK 
    disarmed switch to AHRS. start copter falls on the head. 
    Copter without electricity, reboot everything is OK.


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    • OMG Rainer,how many times your multi it still alive? Don't expect fast answer,3DR developers are occupied with some competition they have soon, I guess

  • Hi did some interesting tests/comparison of PWM Levels of KK, APM and Pixhawk.

    Could sb confirm that with pixhawk?



  • Hi, I have a strange issue with 3.2rc2 on both pixhawk and apm2.6 in a tri frame.

    With 3.2 RC2 both loiter, hybrid, rtl modes work great.

    But in AUTO mode, copter flies really slow and bumpy towards the waypoint (pitch direction). It feels like something would always stop acceleration.

    On this screenshot this behaviour can be clearly seen from desired picth value.

    The full log can be found here:

    This is my parameters file (in case I missed something...?!).

    Best regards


    • Hi all,

      I tested 3.2rc2 on a quadcopter with a Pixhawk and and Apm flightcontroller and let them both fly a short mission.

      First with Spline waypoints and then with regular waypoints.

      On my quadcopter with the Apm I observed the same issue as Adrian (see attached picture). On my quadcopter with the Pixhawk the observed behaviour was absent.

      Afterwards I loaded both controllers with firmware 3.1.5 and repeated the missions. Both controllers flew the missions very accurate, without twitching or other unwanted behaviour. Furthermore they both seem to fly much more stable in Manual, Loiter and Auto mode. Not as nervous as with 3.2rc2 firmware.

      Best regards,

      Jan Willem


      • Hi,

        could anybody solve this issue with our copters? That'd be nice if this issue could be fixed in RC3.

        If further test flights are necessary to collect more log datas, just tell me and I'll try to provide the flights.

        Thanks in advance.


        • I forgot to tell another maybe important fact.

          I upgraded from 3.1.5, so many parameters came from 3.1.5.

          Maybe some tuning problem in nav??? (The strange for me is that RTW works without this issue, but uses the same nav PIDs?)

          Best regards


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