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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It looks like I missed setting one configuration parameter that controls the messages sent by the GPS.
If you are using U-Center, you need to go to the Message View/MSG(Messages) and set UART1 On with a check in the box between "UART1" and "On" and put a 1 in the box to the right of "On"
I found this Message parameter setting in the 3DR LEA-6 configuration file.
The data stream appears to be pretty stable now in U-Center.
By the way, U-Center does not appear to convert UBX transmissions as far as HDOP and the number of sats.
Tom C ArduRover2 Developer


I think that you can change the Mask parameter, which is 5 deg presently, instead of shielding the antenna from "low elevation satellites".


TCIII ArduRover2 Developer

Hi Guys,

Great work on 3.2.

Upgraded my APM dji 450 'beater' from 3.1.x to 3.2 beta 2 last night and took it for a spin.

Need some help analyzing the attached log.

- stab, ok - stick response seemed a bit more lively / robotic than before but good

- alt hold - worked as well as before

- loiter - better than before

- hybrid - love it (but read on...)

YAW response was a bit slow - boosting the following parameters helped


ATC_RATE_Y_MAX = 72000

HYBRID mode - so here's where things get interesting...

- While flying fast (55km/h by OSD) in HYBRID mode I noticed the altitude decreasing - also noticed the throttle out was max'ed (100% by OSD).

- I increased the throttle and reduced forward pitch - the quad slowed down but kept descending.

- Pushed the throttle stick to 100% but it made no difference - could see throttle out actually FALLING (< 40% by OSD) !

- Just before it went down the forward speed was almost gone < 2 km/h and throttle out seemed to start to increase ( > 60% by OSD) but it was too late.

Recovered the quad undamaged. Checked the battery, more than 60% capacity remaining.

Test flew in stab, alt-hold and, loiter with the same battery - everything ok.

It seems as if the quad either ignored or had a severely delayed reaction to my increased throttle input as it slowed down.

Could this have something to do with HYBRID mode's braking phase?

Any insight appreciated. Thanks,

- Rob

Its not only me you disagree with! Show me a screen grab of the vehicle position over time, or send me a tlog. Your vehicle will be sationary, but the bread crumbs will show it moving all over the place.

Unless you have a clear view of the sky, GPS can be inaccurate. HDOP is indicative. Its not an absolute truth.

@christian, that is very interesting pixhawk updates the config of Neo-M8N at boot up as per the params set in the file AP_GPS_UBLOX.cpp file. so a separate utility is not required to configure the GPS. there is a good news. a clone of Neo-M8N GPS + compass is now available from Hobbyking for $32.00. since all the chips are from OEM so i think it should be reliable.


i have already ordered one. could not resist trying this new GPS on AC3.2-rc2. since the copter is now quite well tuned for AC3.2 so is right time to try this new GPS

Ravi: Hobby King offers a NEO-M7 module (Not M8) with a 2mm GPS patch antenna, which is not designed for GLONASS. Still no miracles around ;-)



HDOP says nothing about the accuracy in case of having reflections or Multi-Path reception.


HDOP is only based on the position of the satellites received which determines how accurately you can in theory calculate the position if and only if the received signal is perfect. HDOP is not impacted by reflections, but the GPS accuracy definitely is.


The effect is the following:

- HDOP bad means that: the GPS position estimate is likely to be bad since the received satellites are in a non-optimal position.

- HDOP good means that: the position estimate can be good based on the satellites received if the signal is not disturbed in the atmosphere and not reflected of buildings etc. HDOP will not indicate this at all.


So a low HDOP indication while being in a very urban area or inside a building means nothing. Indeed typically the estimated position will be wandering all over the place.


well the description in the hobbyking site does says it can rcv from GLONASS satellites.

True: The u-blox 7 engine (chip) itself features more, even Galileo, which doesn´t exist yet ;-)

But : According to the pics, this Hobbyking board comes with a 1575MHz (GPS only) patch, same family DJI is using for the NAZA, btw..  

... but you can buy the dual band antenna from Digikey and put it on the HK board and have an enclosure. It's 10 cm larger but it looks like it might fit in.


thanx terry, that was something i did not think about before ordering ublox 7 form hobbyking. i will try to upgrade it using sparkfun antenna.

When i use the pixhawk testing 3.2rc2 i found two bug 

1.Running 3.2rc2 without any peripherals, just use usb connect pixhawk.than pixhawk running good and leds hand yellow double flash.But after a period of time,leds stop flash and FMU froze.If i connect full of peripherals(Safe key,GPS,Power module),it just running gread,and never froze again.

2.When the Channel 7 or 8 choose AutoTune, and then use the mission planner do radio calibration pixhawk froze.

sorry my English is not so well, all those use google translation.

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