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 RC2 has been great so far but I think Autotune needs to be improved to support large copters with large props and low kV motors. I fly a 830mm Quadcopter with RCTimer 5010 360kV motors on 6S with 17x5.5 props and the autotune is not able to tune the copter properly. But other than that Arducopter 3.2RC2 has been great overall even though its still in beta. I hope someone can fix the autotune though. My older 550mm quadcopter autotunes perfectly and flies really well. I have attached a log and some general pictures of the quad itself if any developer wants to analyse. Though the log is from 3.1.




Thanks for the feedback gervais, I am working on getting both the gps level and farthest away from the other electronics. 

- Rai Gohalwar

Hi Henri,

I did try that and other configurations with that wiring setup. With just the piksi, the screen says: BAD GPS HEALTH. the other way I tried was to make both gps1 ang gps 2 =1(auto). That gave me a 3d fix. Thirdly, I tried setting gps1=8(swiftnav protocol) and gps2=2(u-blox) and I got gps=NO GPS

Another interesting configuration I tried was gps=0(none) and gps2=2(u-blox) That also gave me NO GPS

I have found that the loiter is not very stable and the logs are misbehaving when this wiring config is used. 

Pay a visit to my other discussion relating the piksi. 


-Rai Gohalwar

Hi Julien,

Thanks for your feedback and suggestion. I need the 2cm accuracy for the experiments I need to conduct. My only option is to use an RTK gps. The one you recommended has a 2m accuracy which is too vague for me. 

-Rai Gohalwar

Hi NullVoxPopuli,

The hook-up is pretty easy, it can be accessed through the swift-nav website. I believe so, the gps is using UART serial communication. 

I believe you are mistaken brother, the piksi if used as an RTK gives 2-3cm accuracy. Right now it is being used a normal gps. 

-Rai Gohalwar


I would love if someone could give me an estimate time when the rc3 would be available?

-Rai Gohalwar

fellow drone flyers, i want to update a correction here. i had reported about 15 days back the simonK based 20A afro ESC and BLHeli based sunrise 20A ESCs are having sync issues with Pixhawk loaded with AC3.2 firmware. I would like to post here that none of the ESCs had sync issue. The problem was with one motor of which i had no idea. i never thought that a motor can glitch without any apparent reason. the motor was turnigy 2830-980KV. they are wonderful motors. Out of the nine motors i bought only one was glitching and all this time i was busy changing the ESCs. after replacing the motor i had no issue at all while flying pixhawk with AC3.2-rc2 update. the motor could have magnetization problem (not sure). all modes are excellent. the navigation is superb. RTL always within 3m of takeoff. my apologies for posting wrong information.

Hi Chadruth, I am in the process of building a similar quad only using Sunnysky 340 kv motors. My Tarot 650 (APM 2.6, 14" props) flies well but took 3 tries to get autotune to complete and is a little twitchy. I'll be interested to see if I can get autotune to work on the bigger one. Would you mind sharing the pids you are using for your large quad?


    Great, thanks for the correction!


I've got the new UBLOX NEO-M8N with compass today and I'm very impressed.. Connected via Uart for GPS and I2C for compass with pixhawk. Its only one pin header for both, so you have to change the sequence of your wires. Pin header is showing in flight direction.

I've got 15 sats and hdop of 1,3 during bad cloudy weather! Usually I had only 5 sats in such cases.

What GPS did you use before? How is it compare to LEA-6H?


In my never ending quest for rover heading knowledge fidelity I have been evaluating a GSC uBlox M8Q GPS which has, I believe, an active antenna compared to the M8N.
I am using the uBlox U-Center GUI to communicate with the M8Q and am using the default interface configuration.
So far this afternoon I have been able to acquire 12 sats resulting in an HDOP of 0.7 - 0.8 all while resting on a stool about three feet from the nearest window in my town home in southern Florida.
The best that I have ever had indoors with my uBlox LEA-6 is 14 sats and an HDOP of around 1.2 - 1.4.
Outside I expect the M8Q to obviously perform even better. I suspect that it can acquire at least 18 sats and get the HDOP to around 0.5 when used outside.
Being able to acquire more sats than the LEA-6 will allow the mask angle to be increased to help eliminate the acquisition of sats on or near the horizon that can cause reduced heading fidelity.
Tom C ArduRover2 Developer

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