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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Does the sparkfun antenna receive the higher frequency GLONASS?

@terry, i meant the digikey antenna. sparkfun was written inadvertently.


here is comparison of LEA6(red) and M8N(blue) (behind the house)

LEA6 setting: GPS_TYPE=2(ublox); connected to GPS port; factory settings overided by pixhawk boot

M8N setting: GPS_TYPE2=2(ublox); connected to Serial4/5; didn't check if overided, but elevation set to 10°, SBAS off

Raph I got the same error during log download over mavlink.

Wow there are so many Mavlink Bad Packet (crc fail) messages in debug console... now I know why connecting via mavlink is sow slow since I use a pixhawk. APM has no problems. Fast connection as usual. My SiK firmware is 1.6.

Marco had same issue some weeks ago:


Somebody said:

"If you untick ECC on both modules that should solve the issue.."

So I'm going to test that tomorrow.. Hopefully this is not caused by serialport or gps settings.


I'm very interested in you results, with stock- and CGGP.35.3.A.02 antenna. That price is unbelievable.


1. I've only seen pixhawk freezes when GPS or other UART(Rx/Tx) devices were connected in reverse(Tx/Rx). So I can't imagine the reason, perhaps it could hang if an auto detection routine went into time-out if nothing was detected.

2. maybe you reversed RC-in and SBUS input? It would be great if you could upload a picture of your wiring.

So if you like football, 3.2 can do the ball game too, otherwise trimming the hedge :-)

Randy, did you investigate that glitch behaviour happened in your youtube video?

> here is comparison of LEA6(red) and M8N(blue) (behind the house)

wow ... amazing. I am assuming HDOPs also followed that trend.


So just to be sure, you used the M8N from csgshop with "stock" GPS+glonass antenna?

I wonder how the M7N will compare to the M8N with upgraded GLONAss antenna, in the US ...

sorry forgot hdop. yes stock antenna from csg.

LEA6(red) and M8N(green)

Outstanding ...

Thanks for posting these logs.

Test report on AC 3.2-rc2:  I did several auto mission flights today.  a) first flight - auto take off to 30 meters then proceeded to spline waypoint #1 at 30 meters altitude and continue until all spline waypoints were completed and land.  The flight was very smooth and perfect - successful test! b) second flight - auto take off to 10 meters then climb to 30 meters at Waypoint #1...the copter was slightly bouncing up and down with pulsating throttle until it reaches 30 meters and flew smoothly to the next spline waypoints and continue up to the last spline waypoint. Again, while descending it slightly bounced up and down with pulsating throttle.  Please see attached log at CTUN. c) two more flights - but, this time all take off and landing altitudes are the same as the spline waypoints altitudes....no bouncing, no pulsating throttle....perfect flight.


Willy could it have something to do with Warning#2 on top?

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