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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Nice, it's best then ever! Congrats guys!

Where do we find log options in this release?


     We've had to remove the CLI because we were running out of flash space.  Instead you can download the logs from the MP's Flight Data screen's DataFlash Logs tab.

The CLI's motors test has been moved to the MP's Initial Setup > Optional Hardware section.

The CLI's reset (which resets all parameters to their factory values) has been moved to the Config/Tuning > Full Parameter list.  Although when I tested it a couple of days ago that wasn't working (it's a mission planner issue).

Thanks Randy. I found the download section. I was wondering how you now enable/disable items, i.e. imu, att, ctun, etc.. 


    Aha.  So it's possible to use the drop-down in the standard params screen of the mission planner to set the LOG_BITMASK parameter but the user doesn't get complete flexibility in what logs are enabled disabled.  So we need a new feature in MP which allows more fine grained control.  Issue for MP added!  Thanks for the report.

Awesome work Randy and the rest of dev team! Look forward to testing out new features and improvements!

Wow, exciting! So many improvements and new features confirms ArduCopter as an absolutely outstanding firmware, thanks and well done for all the hard work in getting this all implemented and tested!

You guys should be proud.

Thank you all ! Great team and great work! I have just upgraded the firmware but no time to test.

Excellant !


Hi Randy,

individual motor test: is it automatic (only to try correct spin motor direction) or it can allow me to control throttle manual every individually motor ? (for example to do individually dynamic balance motor/propeller)

Ciao - Giuseppe

Sweet!  Can you adjust RC_FEEL_RP via channel 6?

Time to test this new firmware. Thanks Devteam!

We need your test, fly safe and leave your report, thank you!
What could potentially create significant differences compared to the 3.1 is "EKF" and "Onion", so first do your tests at low altitude for Stabilize, Acro, Alt-Hold and Loiter (in this sequence).
One thing at a time, star and verify the "Stabilize" mode and see if the quad is stable, if so switch in Alt-Hold and see if the quad is properly locked in height, if all is ok switch in Loiter and check if all is ok.
If this three mode are well tuned it's time to check the other (Auto, etc.).

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