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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spline waypoint works well. but the motore ozillieren. that Randy had already recognized.
Reset to Armed yaw does not work

Tested today on my Tarot 650. As Micha said the PIDs where off but it feels different than before, more precise around center stick and responsive as you push harder. The Hybrid mode feels really nice, even with the PIDs not so perfect. Can't test the EKF because I have an APM 2.5 not a PixHawk. Really happy and proud to have the chance to test it! Congrats Devs!

Tnx Mirko, looking forward to it, weather has bin awful here the past days. Fingers crossed for tomorrow.

Actually i was thinking if it would be possible to manipulate the hybrid mode settings so it becomes Loiter+Acro with a bit of Stab in center stick, instead of Loiter+Stabilize. That might be fun.
If so what are the setting i would be looking for?

Thanks to the development team.
I have also tested with Pixhawk Quad.

Stabilize and Loiter are just fine, other than some twitchy motion.
Hybried is OK for flying around in X-Y and Z+(ascend).

Descending action has some hesitations to negative Z motion.

After, descending the vibration has been increasing and unstable.

So, sometimes flip 300mm-500mm from the ground. This might have happen by some affect of  my flying skill.

Over all is nice as beta;-)

Micha, seems you want to mix the two opposite flight modes!

Current hybrid flight mode is smoothing transitions between Alt_Hold and Loiter with a braking phasis, a wind compensation when in Alt_Hold and a kind of drift effect if you want to fly for example with pitch+yaw only.

So all these indirect behaviours could not be preserved with Acro <-> Loiter.

But it could be possible to do something if ACRO_TRAINER >= 1, braking + loiter phasis engaging once copter has finished leveling...

Anyways that would be a very particular flight mode and another flight mode, not possible to deal with a single option for current hybrid imo.

Ok I just did my test this morning and I was impress, but first things first I'd like to thank all the dev team who patches this all together. Excellent job!

Here's my assessment:

1.  EKF rocks! there's a minimal descends when flying around. Same thing happen when you fly in ALTHold, Hybrid and Stabilized.

2. Battery failsafe trigger ahead of my battery lipo.

3. There's a twitch when shifting from inav to ekf and vice versa.

4. The twitch in RTL is now solved! 

Test pattern: 

1. Arm in stabilize

2. Take-off

3. Switch to Althold

4. Switch to Loiter

5. Switch to Hybrid

6. Back to stabilize but this time on EKF then repeat 3 - 5.

Quad details:

1. Flight controller Pixhawk with 3DR uBlox GPS with Compass

2. emax 2216 810 kv motor with 10 x 5.5 properller

3. 30amps esc

4. I tried different mAh lipo batteries. 2200, 2700 & 5000 all in 3s.

5. 450mm frame

I'll post the log later.

Is there a wiki about what EFK is and does and the ins and outs?

There's a lot Peter. Kindly use your friendly google search to find out.

Just tested Hybrid mode, as a NAZA and APM flyer I am so happy its coming...but...

I started in Stabilize, flew a bit, flipped to Hybrid and my TBS Pro darted off across the street, I put it back into stabilize and it came home, no crash but a little scary.  Glad it headed away from me and not towards me :-)  In my NAZA if GPS(Hybrid) does not have enough sats it simply defaults to Alt-Hold then auto switches to GPS mode when all the sats have been captured, not saying thats the issue but just not sure what it is.

TBS Disco Pro, APM 2.6, 3dr gps, 3.2 rc1

I know wheres the log.  I tried, but it wont come up with the option, see screenshots

by Julien Dubois:

"But it could be possible to do something if ACRO_TRAINER >= 1, braking + loiter phasis engaging once copter has finished leveling..."

That is exactly the behavior that i had in mind. This mode would be of great help when practicing more complex Acro maneuvers  with far less risk of a crash when getting disorientated.

I hope that in the current version of hybrid the "fly with pitch+yaw" is an option.
Tried drift mode once and comming from the heli world it confuses me. Hard to get used to for me. Same with the simple modes.

I've downloaded the logs using APMplanner and it works.

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