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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    • With changes such as these:

      a) AltHold Rate P reduced from 6 to 5

      b) AltHold Accel P reduced from 0.75 to 0.5, I from 1.5 to 1.0

      c) EKF check threshold increased from 0.6 to 0.8 to reduce false positives

      are we expected to do more than simply update the firmware to the latest version?

      In other words, is there some reset that must be preformed to be sure we're using the new defaults?

      I'm still seeing a blank 'LOG_BITMASK' in my PixHawk with RC9 and MP 1.3.9 build 1.1.5346.13591.

      • I decided to do a reset (in termnal) using RC9.

        Just sitting on my desk, no flight battery, but powered by my USB cable, after recalibrating my compass, accel's and radio, i seem to get constant:

        PreArm: Check FS_THR_VALUE

        And then when I try to arm constant:

        PreArm: Alt disparity

        I've had from 9 to 12 satelites, HDOP from 1.7 to 2.1.

        Do I need more calibration or did I miss something?

        • T3

          Hi Rich,

          I (as well as others) also experience Alt disparity warnings frequently. This happens to me when I plug the battery in when the copter is sitting on table and then move it to the arming position - a couple of meters away on the floor. Same as the velocity warning it should vanish after a while. If not then reconnect the battery.



        • Hi,

          I'm in South Africa.

          Previously, I had up to 12 GPS sats during power up.

          Lately, I only get a max of 8 sats, confirmed with my phone, and tablet.

          Anyone else in Africa noticed/confirm this ?

          Oh, my 3DR quad flies so well with APM 2.6, I will never "update" it :-)

      • Rich, yes, you could reset all your parameters and start from scratch.  But it would be easier to just go into your full parameter list, and change those 3 manually.

        • Rob,

          As I could have missed other changes, I think I'll do a reset. I'd hate to miss something.

          Perhaps this should be mentioned when the final is released, other than trying to have everyone going through all the release notes and finding everything that has changed over time.

          Thanks for your reply.


          I still wonder about why LOG_BITMASK shows blank in the current versinos of MP, even with RC9.

          • There's another thing you can do to make this a bit easier for yourself.

            Before flashing, use Full Parameters List to save all your params.  Then update the firmware, and do a parameter reset.  Then go back into Full Parameters, and do a "Compare" and point at your saved parameter file.  This will compare all your parameters, and show the difference between what you have now (reset to default) and your saved file.  First, uncheck the box so that it does NOT update all the changed parameters.  Then go through the list, and check all the parameters you think should stay the same.  For example, no reason your Rate PIDS should change on this update.  That will save you a bunch of time.

    • Randy,
      Just wondering if you noted my test of the reduced Throttle Rate and AltHold gains back on pg. 124? Even after the changes, I was still experiencing motor pulsing. Perhaps the filtering that is currently in use with FW 3.1.5 might be a better solution. I did go back to that FW on the same quad setup with no problems. I am unable to test the latest release as I am currently back to work for the next three weeks.

      Also, I believe that in the description above you mean Throttle rate from 6 to 5, and not AltHold Rate from 6 to 5.

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