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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        • Terry,

          With all due respect, your quad did NOT crash due to magnetic interference.

          Until now, my quad flew with an APM 2.5, mounted directly above the PDB.

          Yes, I did see an improvement with an external mag this weekend.

          But nothing life threatning

          And I'm still flying fixed wing with APM 2.5, successfully.

          • Hi Gustav

            Thank you for your reply. I'm not sure what else it would have been so if you have any suggestions I sure would appreciate it. I hadn't done a compassmot before the crashes (actually flyaways from close range). When I discovered the procedure and ran it my compass was at the upper acceptable limit so my guess was that the noise would occasionally peak out and cause the problems. After raising my GPS/compass unit higher the compassmot dropped and I haven't had the problem since.

            I have recently had a couple strange crashes although I think these have been caused by a faulty ESC.  

            • Hi Terry,

              Do you fly with telemetry connected to a notebook or tablet?

              A buddy of mine had a flyaway today, and during the event, Mission Planner reported "Bad GPS Health"

              And obviously then RTL won't work........

              He also had a crappy "HD" camera fairly close to both the RX and GPS, and since I previously had a problem with a HK Wingcam almost killing my quad, we are wondering....

              Both instances we at least had some information pointing to possible causes.

              Hope this helps.

              • Thank you again, I don't use the 3dr radio telemetry on that quad but do use a 600mw video transmitter and minimOSD. Maybe the transmitter was a problem. I'm going to swap out the ESC's also and see if that is the issue.

    • I am on apm and usins external mag/gps compas mot barelly ragisteres at 100% throttle even at 6s. Also copter has much more pricise direction hold on 3.1.5 than on any 3.2-RC. Also, as mentioned earlier by me and raph at 3.2-rc4 compas calibration doesn't give same results on the repetative calibrations, some results vary by 20-30 points. When doing 4 compas calibrations with 3.1.5 results are with 1-2 points and most often stay thw same. The problem I think is in the way 3.2 handles magnetometer.
  • Hi all, I was conducting rehearsals with a gimbal, but the engines of height a few feet of my multicopter went away, I was just taken off and stabilize.
    Fortunately no damage ... but it's really dangerous!
    Randy Take a look at my log, in the final part are interrupted, however, we see that the accelerator in / out were aligned.
    I noticed when I recovered the model that the APM had red light (as if it was armed).



    • Is your APM working again? no problem to make another flight? maybe that there was a fail of the 5v power supply or voltage regulator on APM board...

      • you can supply a fault of the APM, the last vcc voltage is detected 4,96volt then I had the impression of a freeze, because even when I recovered the model apm had the red LED on and not blinking blue LED (GPS) off. Today I investigate with the same configuration but this time a few inches from the ground.

        Note: (The power module is original 3DR)

    • Gianvito,

      from your log, it looks like you've done quite a long flight before.

      When I check the battery voltage, you are very low (near 10.2V only).

      So it's probably a battery issue. Maybe you could configure your ESC with NiMh threshold (lower than LiPo one, it avoid to cut too early => you kill your battery but save the copter!).


      • I do not think it is a battery problem, I have yet to calibrate the current sensor, but in addition to telemetry apm, I had the data of the voltage of my aurora 9 with optima 9 and if I remember correctly was around 10,7volt. The alarm is set to 10.5V.
        However, even if it was a problem of voltage drop as there simonk should not disconnect the power to the esc!
        But I noticed that all 4 esc went off at the same time!

        Today I try again, I have not flown after the crash and the battery is not fully charged, tried again to check the voltages but I think that the problem is elsewhere.

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