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 –


        • Developer


          Ok, thanks for that.  I think the code has gotten too big for the APM1 so we will need to trim it down just a touch.

          • Randy, does this mean that my Pixhawk's future updates are limited by the capacity of the APM1? I thought that one of the main points of the PH was increased capacity... 

            • No, definitely not.  3.2 is the last code that will be officially supported for APM.  Afterwards, we won't be constrained by 8-bit processors.

              And even then, the "trimming" that Randy is talking about will only apply to APM builds, not Pixhawk.  Some features will be removed for APM only.

  • Very Successful Day flying Ver 3.2 RC10 with Spline Waypoints, Set_ROI (2nd part of video), and Follow Me (first part of Video) thak you developers, this is AWESOME!! Meet my Overly Attached Quadcopter

    • Hi ,


      Nice to see, that everything works smoothly.

      Could you share with parameters list for this setup .

      • its largely default parameters, plus what ever autotune did on the X650? so this is basically out of the box params.

  • HI 

    I had a crash in AC3.2-rc10 pixhalk.

    After a mission, everything was ok, but after finishing in the last waypoint in RTL mode, began to descend as 1.5 meters of ground was started to tilt to the left, try to regain control by passing to altitude hold and stabilize mode, and never change.

    the result an arm and broken propeller

    attached the log


    Sorry mi english :(

    2014-10-05 11-26-26.log

    • Developer


      At the end of the mission it looks like the vehicle was switch to AltHold mode and the pilot roll stick was pushed fully left and pitch fully back.  A moment later it was switched to Stabilize mode and the throttle was brought to zero.  When it Stabilize mode with zero throttle ArduCopter doesn't do any attitude control so the vehicle crashes.

      3702523434?profile=originalIt looks like you haven't enabled the throttle failsafe so I suspect what's happened here is that when you turn off your transmitter it's changing flight modes and roll, pitch, yaw and maybe even throttle inputs.

      • Hi Randy, thanks for your answer.
        Indeed the vehicle was changed to altitude hold mode, and a moment after barely just started going to the left, try switching to Stabilize mode, to regain control. But it never happened, just fly away and try to lower the throttle to zero to descend. But neither happened, no command acted upon.

        Sorry mi english :(

  • today i was trying to do an auto mission but it didn't work out, after switching to auto, the copter hopped a little bit around but didn't take off. does anybody know what the poblem is ?

    just another question, is it possible on the pixhawk to set the motor output ports 1-8 to be
    sequential arm by arm clock or counter clock ?

This reply was deleted.