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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3.2 should be as stable as 3.1.5. I say "should" because I never tried it. I am on 3.1.5 as you are.

3.2 gives a few good features like hybrid mode, spline waypoints and EKF. To me the most important of all is the EKF but it won't work on APM. AC 3.2 will also take away some features like CLI/terminal window from the mission planner. You won't be able to download your logs as you used to do.  May not be important to some people but it is to me. So I elected to stay with 3.1.5. It is okay for me now. I may try it one day but I know that if I want to catch up with the development of the AC firmware, I need to get a better flight controller. 

I'm flying 3.2 with APM without problems, other issue solved is the false positive on Land mode, in 3.15 you have the risk that the copter thinks that has landed when you are in hover, stop the motors and crash if you don't retake stab quickly; but in 3.2 some people are reporting more sensibility with vibrations, so, if you have vibrations near limit perhaps is better to stay in 3.15; i prefer to download logs like 3.2 from the first page but that is only preferences.

Thx to both of you ;)

I am way below vibration limits so that would be no problem. I think I will give 3.2 a chance.


I'm a bit late here - can't follow everything!
BUT, I wonder whether anyone actually tests their MAG after calibration, to see whether headings are accurate. You need to do it on a tripod according to my procedure at
I found on several occasions that his "manual" calibration method can improve upon the offsets provided by the normal calibration procedure from MP.
I'd be very interested to hear whether others find some heading errors and can correct them as I did.

WE ARE ON 3.3 RC5 NOW....

Latest Beta can't get Autotune to turn on during flight.  And when I switch back to the latest release (Not Beta) I can't see nor hear what flight node is on.  I can see the number listing in the full parameters list but it won't verbally tell me when I switch from one to another.  And again after flight two with latest release Autotune not working.

If someone wants to see the log files for both flights let me know.


Hi William, 

if you add a log I will take a look for you.

Here are a couple.  

Thanks for any suggestions!


Can I briefly take the discussion back to the M8N? I have bought one from FoxtechFPV and have found it much less sensitive the 3DR ublox indoors, but able to obtain more satellites outside.  Previous discussions have talked about the configuration file for U-Centre. I have connected to U Centre and can talk to the GPS. Everytime I change the baud rate to 38400 and save the configuration and disconnect it, it reverts to 57600. I'm not sure if I am doing something wrong or it has no battery for flash.

Is there a command string that APM and Pixhawk write to the compass to configure it?  As well, what is the setting to turn on all of the satellite networks for the M8N?



The reason your config isn't saving on the m8n is because you are unable to write to the rom after changing the baud rate, since u-center will still be connected to the gps at the original baud rate.

The way I do it, is make all of the config changes except baud rate, write the config to rom, then change the baud rate to 38400 in the gps config, then in u-center change the baud rate you're connected to the gps at to match. You will then be able to write the changes to the rom. You can see when you're connected in u-center when there's a green dot down the bottom somewhere that flashes when you bring up a new page in the config or try to write anything. When it's not connected, or has a baud rate mismatch, changing pages in the config doesn't make the dot flash.

Hope that makes sense!

By the way, the GPS driver is suppose to work at baud rates higher than 38400 although I have never tested that this works reliably.

@Glen M, Thanks for that. I have worked out how to use U-Centre. I can change the baud rate and then reconnect. The comms link is flashing green and I can read the data in the text window. . I can see the sat data, etc after re-connecting. Once I disconnect and lose power. The baud rate goes back to 57.6k.

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