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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  • Telemetry is logging twice, not all the time , do we need that much logging

    Sort on RAD

    2014-08-30 08-25-31.bin

    • Developer


      Thanks for the report.  It seems the RADIO dataflash log message is written whenever the vehicle answers a request from the ground station for the status (MAVLINK_MSG_ID_RADIO or MAVLINK_MSG_ID_RADIO_STATUS).  That's a bit inconsistent with how we write all other dataflash messages so I'm not overly happy with that but putting that aside, it means in the short-term it's likely caused by the ground station asking for both messages.  I guess you're using the Mission Planner?

      • Got the same result without Mission Planner

      • I use Mission Planner 1.3.10 Build 1.1.5369.11976

  • yesterday I tried rc10 after my last crash and everything seemed fine except some variations in altittude in alt. hold and pos. hold mode, I guess it's a baro problem, could it have been damaged from my last crash?

    • Here's the log in case someone can help me this time :)

      Alt. Hold Parque.log
      • Developer


        It's definitely vibration levels.  Jonathan Challinger has recently added a new automated test of IMU variations between the two accelerometers on the Pixhawk and it seems quite good at catching the problems.  It claims a 1.13 m/s/s difference between the two IMUs.

        3702669003?profile=original3702668789?profile=originalBy the way, you may find that setting AHRS_EKF_USE to "1" makes it perform better because the EKF is better able to deal with vibrations.  The EKF is still experimental however so the safe official advice is to try and reduce any vibration in the frame.

  • today I try again rc10 with strong wind, just impressed, first time that I can fly with this conditions in stabilize mode for the moment., Land is working well again.

    • Has PosHold been renamed to Position between RC9 and RC 10 ? I had been using flight mode 16 "Pos Hold" and now it seems to no longer exist ??

      • Developer


        Any chance you've re-installed the mission planner from the .msi?  if "yes" then you've got an old version of the mission planner.  I think on the "Help" screen in MP there's a "check for updates" button that should hopefully get it up to a more recent version.

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