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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    • Developer


      The code's available in the ArduCopter-3.2 branch in github.

    • T3

      Hi all,

      I also had to reduce loiter_jerk. The range is 500-1000. I reduced it to 500 but it could still be smoother. Can it be reduced below 500 and if so what would be the risks?



      • Developer


        I'd guess it'll just get sluggish.  I haven't tested it very low but I'd be surprised if it became dangerous.

        • T3

          Thanks Randy!

          I'll make some tests over the weekend and report.

          • What is your setup? I also fly with 500, it improved a lot from default setting.

            • T3

              Hi Manu, I have some hexas also with low kv 360-590, 15''-17'' and 4S. 

              Not sure what the default value was but 500 is better but I'll give some even lower values a try.

  • with rc10 and previus Loiter_turns in a Mission is not working probably.

    The kopter is just turning CW at the Point, regardless the Parameter i set in the Missionplaner. pleas can you check this?

    2014-09-25 10-04-51.bin

    • LOITER_TURNS works only if Dir=0 and only clockwise.

      • not in my case, in rc 9 loiter_turns were working as you mentioned with DIr=0, but now in rc10 it turns around with out any radius from the circle parameter. Regardless of the parameter in mission planner at the Loiter_Turn line.

  • I don't know if auto missions are being tested much in 3.2 but it looks like the wiki needs some updating. It doesn't match with what is seen in the latest mission planners. I would like to test auto missions in rc9 as everything else seems very solid but I'm hesitant to enter some waypoint or takeoff incorrectly. I opened a thread about it on the forum but so far no responses.

This reply was deleted.


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Aug 25