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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          • 4.7k resistor (in the positive=signal line on the receiver side) and 10uF capacitor (bridging ground and signal after the resistor). See here also to get an idea about the wiring with a nice picture

            I use this setup with pixhawk and DTFUHF (openLRSng), and it works fine. RSSI_Pin:103 and RSSI_RANGE:3.5 in my case. You can tune range untlil it matches what your transmitter telemetry is telling you.

          • I started working with this last night.  I didn't add a filter and things seem to be working - this matches the current documentation that RSSI PWM can be read directly.  I'll test range today to ensure RSSI works properly. 

            What did take me a few minutes to figure out was how to assign the RSSI pin in Mission Planner.  I tried Mission Planner and I saw no way to do this.  I ended up logging into the Pixhawk console and from there setting the RSSI pin to 103.  After that things started working or at least I have a value now.

            I'll find out today if RSSI is working properly or not with my X8R receiver.

            • So can you connect directly without the resistor or capacitor?

              • for Taranis X8R receiver it works without R or C. easy direct connection.

      • Thanks, I'll give it a shot.

  • Is it normal I lose some altitude in alt-hold or pos hold when going forward really fast?

    • Yes. You dont loose much, maybe 1m from what i have seen. It's just that the barometer gets confused due to the rush of air as you fly fast. Compensate with a little throttle and you are good to go.

      Randy said that in a future version of ArduCopter some formulas might be implemented to compensate for the barometer confusion.

      • But I'm losing lots of meters, like 10, I looked at the logs and the throttle goes all the way up trying to maintain altitude

        • Developer

          If you have a log that would help me determine the cause.

          My off the cuff guess is that the alt-hold controller simply can't maintain the altitude with the lean angle that's being requested by the pilot.  This is perhaps the likely cause if the vehicle doesn't have this issue Loiter mode where the horizontal controller is careful not to ask for more than the frame can provide.

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