Warning: there was a period of about 12 hours after this blog was first posted where an older version (AC3.1.2) replaced AC3.2.1 for APM2.  If you think you may have downloaded for the APM2 during these initial period, please check the version on your board by looking at the title bar of the Mission Planner (see the 5th comment from me below for a screenshot)

ArduCopter 3.2.1 has completed beta testing and has been released as the official version available through the mission planner and other ground stations.  If upgrading from AC3.2 there should be no need to re-do any configuration.

Changes from AC3.2 are listed below and in the ReleaseNotes:
1) Enhancements:
    a) reduced twitch when passing Spline waypoints
    b) Faster disarm after landing in Auto, Land, RTL
    c) Pixhawk LED turns green before arming only after GPS HDOP falls below 2.3 (only in flight modes requiring GPS)
2) Safety Features:
    a) Add desired descent rate check to reduce chance of false-positive on landing check
    b) improved MPU6k health monitoring and re-configuration in case of in-flight failure
    c) Rally point distance check reduced to 300m (reduces chance of RTL to far away forgotten Rally point)
    d) auto-disarm if vehicle is landed for 15seconds even in Auto, Guided, RTL, Circle
    e) fence breach while vehicle is landed causes vehicle to disarm (previously did RTL)
3) Bug Fixes:
    a) Check flight mode even when arming from GCS (previously it was possible to arm in RTL mode if arming was initiated from GCS)
    b) Send vehicle target destination in RTL, Guided (allows GCS to show where vehicle is flying to in these modes)
    c) PosHold wind compensation fix
    d) prevent infinite loop with do-jump commands pointing at each other
    e) pixhawk memory corruption fix when connecting via USB
    f) vehicle stops at fence's alt limit in Loiter, AltHold, PosHold (as it did in AC3.1.5)
    g) protect against multiple arming messages from GCS causing gyro calibratoin failure

Thanks very much to Marco and our beta testers who put their copters at risk over the past several weeks to help us iron out these issues.  Also Thanks to Raph for the video (this is actually a video from AC3.2).

Views: 28172

Comment by Waladi on February 11, 2015 at 1:18am

Bravo Randy & Dev Team...

Comment by eUGENE on February 11, 2015 at 2:38am

Thats Cool, What about the v3.3 beta release :)

Comment by Cala on February 11, 2015 at 3:36am

Thank's Randy

Comment by Randy on February 11, 2015 at 3:39am

@Alp, yes, it won't be too long before the first AC3.3 release candidate goes out.  Hopefully within 2 weeks.

The first AC3.3 release candidate will have the EKF on by default, PX4Flow support (i.e. optical flow sensor) and retractable landing gear (and a few other things).

Later release candidates will include Return-To-Me and AutoTune for yaw.

We'd really like to get Terrain Following and some basic form of obstacle avoidance into the final AC3.3 but those are still not even close to complete yet so we can't make any promises about that.

Comment by Randy on February 11, 2015 at 3:46am

We had a slight hiccup in the release tagging so if you loaded the firmware within 1.5h of this blog post appearing you may have loaded AC3.1.2 (instead of AC3.2.1).  This has now been corrected.

You can see the version easily by connecting with the mission planner and right at the very top it has the version number.  It should show AC3.2.1 as shown below.

Comment by eUGENE on February 11, 2015 at 4:35am

good news Randy, Im already have a px4flow hardware.
what sort of implementation for px4flow? full supports for all features? (optical flow, sonic range finder etc)

Comment by Patrick Wells on February 11, 2015 at 4:50am

 b) improved MPU6k health monitoring and re-configuration in case of in-flight failure

Could you expand on what exactly happens in this scenario with the new firmware?
I've had the in flight hardware failure so I'm curious.


Comment by Emin Bu on February 11, 2015 at 5:30am

So 3.2.1 and 3.2.1 rc2 are the same?

Comment by Randy on February 11, 2015 at 5:42am

@Patrick, the MPU6k health monitoring is a result of the discussion on this popular thread.  This (Pixhawk only) feature monitors (at 1hz) some registers that we know shouldn't change and if they do it marks the accel as unhealthy, resets it and reconfigures it.  Marking it unhealthy means that the backup accel (the lsm303d) is used until the mpu6k comes back.  The underlying cause is a hardware issue but in the testing we've done the accels recover somewhere between 50% ~ 80% of the time.  This means it's really a temporary measure that might save your copter a few times which might give you enough time to notice the problem and contact whomever sold you the board and ask for a replacement.  My understanding is that with 3DR board, the MPU6k failure happens more on boards manufactured between June-2014 and Jan-2015 but I'm not totally sure - best to talk to "Vu" from 3DR about that (try on that linked discussion above)

@Emin, yes, AC3.2.1 is exactly the same as AC3.2.1-rc2 (except for the version name change)

Comment by Patrick Wells on February 11, 2015 at 6:11am


Thanks for the clarification. I've personally had an MPU6k failure in flight that resulted in a pretty nasty crash. 3DR is replacing the Pixhawk for me so we're good there. I'm just wondering if the new update may prevent a crash in flight?


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