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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    • Nice. Do you have more details of your build and maybe some photos posted anywhere?

    • Marco, 

           Nice work, and very Stable. 

  • Hi Randy,

    i've set CH 6 option (knob) to WP Speed, the range is set to min = 0.20 and max to 2.00.

    seems that the WP Speed parameter on startup is always reset to 0.00. I need to set a inital value manually for example 500 and safe settings then the knob is taking effect and autopilot works fine otherwise it seems that WP NAV is set to 0 and autopilot does not work properly.

    • Developer


      Ok, thanks for the report, I'll have a look.

      Re the crashes you saw while back-flipping in ACRO mode and recovering in Stabilize mode while the vehicle was inverted, I spent a few hours today testing flips in the simulator and I could not get it to act badly.  This doesn't guarantee there's no software issue in these situations but I couldn't find anything anyway.

      • Hi Randy,
        did you also test in Acro Trainer mode ?
        yesterday i found out that my Futaba T7C has a problem with centering the sticks. The stick middle position varies a ittle bit and it's off center. Unfortunately on the T7C you can't re-calibrate them manually, i'll need to send it to Futaba servicecenter to adjust.

        Can this cause this problem ?

        I will make another test wit my spare T8FG which is in perfect condition.

        This weekend i was doing FPV flight on althold mode with speeds up to 80km/h, it was amazing. Great expirience,
        On switching to Loiter there was always a small descent of about 1m is this new ?


  • Hi Randy,

    One minor issue I have every once in a while during power up of my Pixhawk is that either the 3DR radio or MinimOSD will not function.  I think it's one or the other not both at the same time - I can't remember seeing both not working.  My guess would be something to do with the serial port not initializing correctly.  I'm using the recommended TELEM 2 for the 3DR radio and TELEM 1 for the MinimOSD.  My 3DR radio is the first version.

    I've reset the MinimOSD to try and resolve - that didn't work.  My 3DR radio is too hard to unplug so I haven't tried that when things hang.

    My simple resolution is to power cycle the Pixhawk and everything is fine after that.  Once working neither fails during a flight.

    I didn't know if others had seen this issue or not.

    • I too have had issues with my MinimOSD module not interfacing with the Pixhawk.  My solution was to unplug and replug power to get the two to synch up.  Wish there was a feature in Pixhawk that checks for OSD interface and if it's not there, then it automatically performs a reinitialization until the two are talking.  It should be that way for the 3DR radio as well.


      Does the Pixhawk send data to OSD blindly or does it receive ACK from OSD?

      • I've had issues too. Had to revert minimOSD to early firmware to get it to work on Pixhawk. Suspect late miniOSD firmware bug.

    • This is a long standing problem. Power cycle a few times usually solves it.
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