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)

Views: 305624

Reply to This

Replies to This Discussion


In the wiki, it's written

"EV: an event number. The full list of possible events can be found in defines.h but the most common are:"

And in the define.h, you have the definition :

#define DATA_NOT_LANDED                 28


Virtual Pin 103: RSSI (Received Signal Strength Input) input pin voltage (SBus connector output pin). This is the voltage measured by the RSSI input pin on the SBUS-out connector (the bottom pin of the 2nd last servo connector on the 14 connector servo rail). 

Modify RSSI_PIN to 103


Modify RSSI_RANGE to 5.0


Will there be support for *12 configuration (Coaxial Hexcopter configuration) in future releases? I think this option is a possibility on the pixhawk?

I will say I fly waypoints and loiter almost every time I fly for about a year never seen a single issue with the compass so I really doubt its that.  But Ill try again today sometime.

Congratulations to all the people involved in this release!

Okay, I tried it again.  At first it seemed okay, flew a couple minutes no major issues.  Then as I was landing about 1 foot off the ground in Hybrid mode my TBS took off away from me with some banking to the right, scared the tar out of me.  I thought for sure it was gonna crash, switched back to Stab and recovered again.  Attached are the logs,  the issue came right near the end.  I am under a canopy of trees but it should not matter as my Naza never has an issue with this in GPS mode nor does my APM in Loiter.

There was a small glitch, after landing in hybrid I disarmed using only throttle down and rudder left, no yaw stick at all, the TBS throttled up a sec then back down to spindown mode.  Did not get enough power to tilt or lean.

On another note,  I noticed take off in hybrid you have to be mid stick or more.  With my Naza it takes off seemeless in GPS mode from throttle up not mid stick and up like the APM.  I can live with that for a whil but not the random fly away :)


thanks Julien. I suggest this will be put in wiki.

did you notice the Mid Stick Launch problem with Alt Hold and Loiter as well? i believe this was one of the issues FW 3.2 was to address and correct, that take off in LOITER or ALT  HOLD would behave like take off in Stabilize mode.  thanks in advance

I think I found a bug. I was testing my quad and I adjusted the loiter PID but the Planner said it was impossible to set HLD_LON_P so I checked in the full parameter list and there's not that parameter. After that it doesn't fly anymore, I try to lift it in stabilize and it rolls forward.


Ok, did a short flight of a few minutes in between rain showers. Wind between 3 and 4 beaufort

APM 2.6 3dr GPS+Mag 3.2rc1 V style frame quad Hdop 1.9

First i tested Loiter. About same performance as  3.1.4. Some small drifting maybe 50cm. Good altitude hold, maybe 20 cm.
Then i switched to Hybrid mode at 4 meters above long grass. Upon switching from Loiter to Hybrid the copter veered off a meter to the right. Upon correction with the sticks it stayed put. Then i proceeded to forward flight. It behaved properly until braking phase. It then looses altitude. I did not move the throttle. After a second or 2 i had to correct the altitude. Copter responds slowly to throttle and regains altitude again. 
I repeated the same procedure several times. Every time the copter goes from forward flight to stop it descends at the braking phase and has to be corrected with throttle.
Throttle response remains very slow.

Loiter behaves better in altitude holding then drift on my copter. More throttle response in Hybrid mode is necessary on my copter.


Dev team, does an auto tune with EKF on makes any difference specially maintaining it's altitude? I think it's a must try.

Reply to Discussion


© 2019   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service