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 –


  • Hi Randy,
             first of all congratulate you for the excellent work you do for the community of UAV, and patience with us newbies like me.
    I have a question. I installed arducopter 3.2 released in my hkpilot32 / gps ublox 8m and watch one erroneous reading cpu load on average 60% with peaks of 2500%.
    Readings's done with the "mp 1.3.15" and "planner 2.0.15" and is the same values 60% with peaks of 2500%.
    The funny thing is that if I disconnect the GPS readings return to 20% cpu load.

    In the arducopter 3.1.5 cpu load is 11% with the same hardware.

    Thank you very much
    • Hi Richard when I connect the fc hkpilot32 and gps not acquired satellites is 20% when sat fix rises to 60% and peaks begin 2500%

      • Developer

        2500% seems pretty odd.  I'm sure we can't have more than 100% so it seems like some kind of reporting error.

        The CPU utilisation of AC3.2 is a bit higher than AC3.1.5 as we've added new features but even with AC3.1.5 it was still running at very close to 100% when flying in loiter mode.  I wouldn't worry about it too much unless you're seeing issues in flight.

        • Hi Randy / Richard
                            I wanted to comment that i was seeing many tlog of and those PX4 have peaks at 2500% load,
          which as Randy says would not have to worry. config my rct800 and went out to fly, as we say in Argentina fly "Re Bien" (very good)
          Test Stabilize, AltHold, Loiter and PosHold.

          Again thank you very much to everyone for making this a reality.


    • @Damain

      got this answer from Randy 5-6 weeks ago

      The high peak in load starts when code get a gps fix or amount sat (or both)

      i have no spare time to investigate it, to busy at work.

  • Hello Randy

    Many thanks for the excellent work for 3.2

    please tell me where can I download the version 3.1.5.

    in the MP is only 3.1.4

    • Developer


      Aha, MP isn't showing AC3.1.5.  I've ping'd a note to Michael to add it.

  • Developer

    Please note that 3.2 has been released

    • Sorry, isn't a good idea, when a firm become stable, to close beta post? so we write in only one post and is easier for developers to follow owr questions from only one post and not for two with include the same matter ? for me this forum is great, as you prefer, I learn a lot, this only a little idea to help with a drop in the ocean, thank's very much appreciate this forum.


      • sorry i like this project and respect the dev's but this Forum is some what chaotic, how can the Dev's work with this i don't understand. A Lot of input isn't seen by anybody while tasks aren't structured.

        it's like hand free driven.

This reply was deleted.