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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Will be getting that to you. Not using spline points



I believe this has been touched upon but to reconfirm.

We are seeing the same drift in pitch issue and now compass drift.
Only occurs when arming the motor the first time, even after a preflight cal.

After disarm we perform another preflight cal, everything settles and when we rearm the motors everything works as it should.

I just want to report a small issue I found yesterday.

My settings are: AHRS_GPS_MINSATS = 6, AHRS_EKF_USE = 1

After my GPS had a valid 3D lock (and received 4 sats) I started in "Stabilize" and switched to "Position hold" shortly after.
While still in "Position hold" the only stick input I gave was some yaw. Suddendly I noticed a small jump upwards (~1,5m), this happend only once.

In the log I found following:

Number of satellites increases to 6 at 16:27:02
AHR2 values start at                         16:27:12
The jump happens at                         16:27:22

So I assume it has something to do when the EKF kicks in or similar.

For sure it's easy to avoid (just wait for the appropriate number of satellites before launch), but maybe somebody wants to improve that.

Best regards,



    Yes, I tink MarkM is right especially if you're arming from the mission planner.


Yes, it's a known issue when using the EKF.  It takes a little while to warm up and the switch from DCM/InertialNav -> EKF leads to a little jump.  It's on the issues list for AC3.3 although for AC3.3 we will be dumping InertialNav completely I think.  That may force everyone to wait a little longer before take-off than they current do .. or maybe we can speed it up the settle time for the EKF.  We shall see!


What size of propellers are you using?i'm curious about your pids concerning to loiter,if you could share it would be helpful. Ours is a 5.5 AUW with no payload,2880 props,apm 2.6 and 3dr gps,6S battery.

Rate loiter P=1.25

Rate loiter I=0.7

Rate loiter D=0.05

Loiter PID P=0.9

It does little circles around the point,less than 1 m radius,and i think it can be improved

Thanks in advance,

Can it also do so when the sonar sees the ground, maybe set at 5 metres?

we will be dumping InertialNav completely I think.

Is that the "INAVERR" AC3.2 is reporting (nearly the whole flight log); the so called "speed error" as some refer to it, and which you said may be a red herring?

I'm just looking at everything possible before taking up my copter again.

Doug W noted the K index may have been a contributor to the twitching and drifting I had last weekend which fortunately only lasted seconds. Normally I check the index, but didn't that day. NSat and hdop were excellent....maybe having such a good GPS made me complacent.


I've posted a reply on your post over here but I can't immediately see the log file.  The INAVERR appearing in the PM message is different and is most likely a GPS update problem.  That's not a red herring but rather a real problem i think.

No one able to help ?

RTL is not supposed to work this way I guess

Hi Manuel,

Line 13476 "Battery failsafe"

Could this be the cause of land?


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