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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        • @Rai, you are shadowing your your bottom GPS. I would raise it up to the level of the top one.  As far as Peter reported at Drones Discuss, both GPS are working, the one with 2 Sats more does the job.

          • Thanks for the feedback gervais, I am working on getting both the gps level and farthest away from the other electronics. 

            - Rai Gohalwar

    • Rai,

      what do you have after in the mission plan the third waypoint? If it's the last one, that's what it is supposed to happen. It should enter loiter (which if you have a plane it will be circling).

      Regarding dual GPS I understand that it's currently not used (only logged). It's only planned to be used later. I'm interested in that as well, as losing GPS lock is fairly bad for what we're doing.



      • Hi Mihai,

        The waypoint mission was a 120 something waypoints with about 15 location waypoints and the rest were commands to do at those waypoints.

        Wait, so you are saying that the dual gps feature is not active yet as far as helping the copter loiter/fly better. If so, could you source your information. I need to keep records. 

        -Rai Gohalwar

        • For dual GPS being only informational at this point check 9b on top of the post as Phill says.

          OK, then there are a few more things to check.

            - if it's a plane, check the parameter that gives you the "tolerance" in hitting the waypoint. If it's too tight it may just circle around it.

            - if it's a heli/multirotor then check that as well, but additionally check compass calibration - that causes circling if it's off - you can recalibrate (and check the parameters), or better yet try loiter and push it away (wind would do it).

          Good luck,


        • look at item 9 b in the description of the release features at the top of the page.

  • So when is AC3.2-rc3 be available? 

    • After flying rc2 for a while I finally gave up and went back to the old firmware. It has a large amount of bugs and needs lots of work. They need to take their time so don't push them.



      • Mike,

        I fly 3.2RC2 on a custom 550 H Quad (pixhawk with EKF on) and a 550 hex (APM).  I have flown mostly, hybrid, Auto, (including Auto with spline), Alt hold, and RTL.  

        I have had no issues and find that 3.2 flies better than any earlier code in both the APM and Pixhawk variants.  

        Specifically which bugs are you referring to? 

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