"Yes, I did PID autotune and compass calibration. It is also a good idea to do factory reset after the firmware update."

"I occasionally received similar false altitude values on 3.2.1 firmware as I mentioned at the beginning of this topic. It was a bit dangerous especially at a few meters above the ground. I made same frame improvements for lowering vibration level,…"

"Do you guys know if the newest firmware for the APM 2.5-2.6 is still under bug fixing or a development is totally gone and we must stay on 3.1.5 version? Some new features in 3.2+ are very useful."

"I have tested firmware version 3.1.5, 3.2 and 3.2.1 in APM 2.5.2 and 2.6 with the same result .

Version 3.1.5 is best in altitude controlled flights but a little less stable in Stabilize mode.

Version 3.2 is average between flight performance in…"

"I have the same problem after 3.2.1 update with quadcopter and APM 2.6 in althold and all gps controlled modes. I found that the barometer values are very unstable in newest firmware but Arducopter 3.1.5 version is without any problem."