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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that is awesome :). where did you grab the  Ublox-Neo-M8N?

edit: woops read up, i see it now  http://www.csgshop.com/product.php?id_product=173

ordered one - I have to try it out :)


hopefully the sats have a good navigation controller to avoid hitting each other...

Many thanks chris...I will order one
How about apm counfiguration? Could you tell me the wiring for apm? Thanks

Christian! Another problem that I noticed is, a random flashing in the reception of the satellites, suddenly the satellites do not appear in Mission Planner and in less than a second, reappear again.

so,will you use two gps?


I do not believe that the default uBlox M8 configuration file is the best for operation with the Pixhawk.

Here is a recommended configuration modification to work with the Pixhawk for Europe:

PRT (ports)


Protocol out




RATE (Rates)

Measurement Period

200 ms

Measurement Frequency

5 Hz

NAV5 (Navigation 5)

Dynamic Model

Airborn 4G

Fix Mode

3 - Auto 2D/3D

Min SV Elevation

10 Grad

DGPS Timeout

120 sec




PRN Codes


120, 124, 126, 131


TCIII ArduRover2 Developer


I am presently operating a uBlox M8Q (active antenna) inside my home in southern Florida (USA) and the GPS has acquired 11 - 12 sats with an HDOP of between 0.7 - 0.9.

I expect the GPS to do much better outside on my rover.


TCIII ArduRover2 Developer

If you are inside the HDOP at best is bogus. You have all sort of multipathing issues which are undetected, just that your reported position will be incorrect. I often see HDOP <2 in my basement, but the plot of the location is all around the house.

And then sometimes I see this

There is no 'error' reported, just that the position is moving, in this case SW. The GPS is still in my basement. HDOP looks fine. HDOP is only indicative of accuracy, but in built up areas, or indoors the gps can be fooled into believing it is somewhere when it is somewhere else. Only with a clear view of the sky can you be sure you have a quality lock.
The more accurate the timing of signals the better, but it's an inherent weakness that can only resolved with a technological innovation. (ie. walls that don't reflect GHz signals ;) )

yudi, I will try APM at the weekend.

See DF-13 shematic for APM:

compass cable is the same and goes to I2C port.

Winston, did you connect via USB or telemetry? Sometimes I have a telemetry lag causing the numbers to disappear.

So we have to check the GPS in CLI while connected via USB. (with 3.1.5 bcs 3.2 doesn't have CLI)

If there appear lines like '.................................................' we really have a lag in GPS communication.

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