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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Hi Christian! I also have this GPS and I had the same results in a test that I realized before flying, but unfortunately I was playing with the pines of connection and damaged the tracks of the plate and after a lot of work I could weld them and it works, but when I prepared to prove the Quad, I could observe problems of instability in Loiter and the quad was presenting very strong drifts in some directions. If you've done some flights with this GPS, I'd be happy to see them.


@Thomas J Coyle III 

Just to be sure: Is the M8Q compatible with APM and Pixhawk?



Hi Terry

I used the Autotuned gains then manually changed the Stabalize Roll/Pitch P gains. I have attached a screenshot of the gains. The PID Rate gains were from autotune. I only adjusted the stabilise P gains.




Thank you for sharing those. It will probably be a month before I have all the parts and get my new quad together and I'll let you know how it works. I'm using a pixhawk so it will be interesting to try it out. Maybe 3.2 will be live by then... looks like some wonderful work being done on it.

Where did you bought this gps? Would you like to share the link?

Only one source at the moment, offers at ebay as well


Hi Jay, I found the mistake. After "Reset to default" in die Full Parameter List of the MP an new installing of the 3.2. RC2 every think was OK, of course with Hybrid modus.

@Christian, Hi, can you send me your wiring plan with this GPS ???

could you share you ublox txt?

Jörgen, the GPS I mentioned with 5 sats was a NEO6M. I also use LEA6H and it has 8-9sats in cloudy conditions.

Thomas, I'm aware of that effect with the sats on the horizon, so my workaround is to shield the antenna a bit with a plastic yoghurt pot. So you can filter them out. I know it's strange to force a reduction of sats, but that works well on my copters.

Winston, these sats could be the reason. I recognized, when such a sat is captured the position of my quad jumps around 2m away.. yesterday it happened when sat #16 intermittently occured.

Yudi, yes at CSGshop.

Devis, yes can do it asap.

Titeuf, it runs with factory settings, config will be send on startup from pixhawk, so I didn't change.

@christian, so what i understand is Ublox-Neo-M8N is plug and play with pixhawk. all one has to do is connect GPS and compass (i2c) connectors. is that correct?

Hi all,

Ravi yes it's PnP so here is a pic of the wiring and an unbelievable new satcount :-)

red(+), blk(-), grn(compass(SCL)), yel(compass(SDA)), blk(GPS(RX)), blk(GPS(TX))

I separated the GPS wires, so you can see how they fit in the pixhawk plug..

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