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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Do you remember what your PID settings before the auto-tune?

Your current PIDs seem not so out of ordinary but your stabilize P is pretty high being over 10.

Are you  getting this twitchy feeling when flying in stabilize mode or manual mode?

Considering that PIDS's are independand of radio used, here is a screen grab of my 3DR quad PIDS, after "Auto Tune"....

Really flies well :-)

My PID's were whatever the default settings are. I'd have to go searching to find them.  

The copter feels twitchy in any mode, stabilize, alt hold, or position hold. 

I too am having this issue with the new HKpilot micro, did you find a solution?


What issues are you having with you HK pilot Micro? Mine will not let me arm the system even with all the pre checks disabled. The esc's don't go through the complete arming sequence either.

Chris Hass

Turn on all the preflight checks, and calibrate your ESCs as shown here: http://copter.ardupilot.com/wiki/initial-setup/esc-motor/ If that doesn't help then reply with what prearm checks it fails. I assume you've followed the guide as above, but if not then try starting from scratch with the wizard and follow the instructions on the website: http://copter.ardupilot.com/wiki/table-of-contents/

I fixed my issue with EKF error 2 all the time, turns out I had the compass orientation set wrong, similarly to the APM2.5 if the arrow on the main board and GPS point the same way on the way side then it is roll 180. My other issue with the wandering loiter mode turns out to be not leaving it plugged in for 3 minutes before arming, I saw a video on youtube a while back that explains and shows why this is needed (if anyone can find it that would be great) but it fixed the issue mine had.

I just want to clarify that if the Pixhawk and GPS are mounted so the white arrows are pointed in the same direction and forward towards the front of the vehicle the COMPASS_ORIENT parameter should be left as "0", not "Roll-180".

Hi All, long time no see. i didnt come here with a problem, just a ton of thanks, i am flying better than ever. also one easy question, which channel is appropriate for Retracting Landing Gear. i have an 8 channel radio, 6 and 7 operate gimbal. so is there any harm to using channel 8? i have it in my brain that using ch 8 is very very bad? dont know why. thanks in advance!


I've been running 3.2 on my quad for sometime and until now ... RTL is misbehaving at ALT_FINAL

I have RTL_ALT 5000 (50meters) and RTL_ALT_FINAL 250 (2.5meters) . 
On the first flight the quad RTL altitude final was at 2.5 meters then I brought it down manually. (worked fine)
Then on the second flight at RTL mode it went all way down and tried to land (touching ground) all by itself ... why ? 

it should have stopped at 2.5 meters altitude...

At the second log (2015-01-27 16-40-44) BarAlt is equal to Alt, which tells that altitude reading is fine
However DAlt is going to 0 on the second flight... but it shouldnt (it should had stayed at 2.5 meters ) ! 

Any reason for this ?


Flew in poshld in 25mph winds with snow. EKF off. No issues. Held position and alt well. ZERO toilet bowling after doing a motor compensation. Lots of joy now. thx

Well, I don't know why ch8 is "Very very bad":))) to be honest. You can use any available channel.

If you had an Rx with more than 8 channel, I would suggest using anything after ch8 since APM uses the first 8 channels. But since you have an 8-channel Rx (mine is 8-channel too), and channels 6 and 7 dedicated to gimbal operation, then I don't think you have many options there:))


Great!  Jon Challinger has written an "auto compassmot" feature that will go into AC3.3.  This will mean that instead of doing the whole tie-down-the-copter-and-raise-throttle procedure you'll be able to just enable it, fly it around for a couple of minutes and then it'll save the offsets for you.

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