ArduCopter 3.2.1 released

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).

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Comments

mikraj February 12, 2015 at 10:49am

What about "Reset To arm YAW", its already Fix?

https://github.com/diydrones/ardupilot/issues/1368

i Use micro Vrbrain,, this function is not work on quadcopter 3.2 FW
Waladi February 12, 2015 at 7:15am

Hi Randy & Dev Team,

I tried to load the firmware for Y6, but the FRAME parameter always loading default value of 1 which refer to X frame, not the Y6B. Is it normal?

And tried to load previous fw 3.2 but cannot found on drop down list:
Developer

Randy February 12, 2015 at 3:39am

I'm pretty sure 3DR is going to produce the sensor. I believe there was a short moment where they were thinking about stopping but I'm pretty sure it's cleared up now that we have software support coming in arducopter.
Distributor

Felix Meissner February 12, 2015 at 3:14am

@ Alp - yes, it is supported; but 3DR stopped producing the sensor - so it has to be bought from other sources ...
eUGENE February 12, 2015 at 3:07am

@Felix

I think pixhawk.org or cvg.ethz.ch still support for px4flow. Also firmware repo(https://github.com/px4/Firmware) still up to date
Developer

Randy February 12, 2015 at 12:41am

@Emin,

I had actually totally forgotten that the lsm303d had a compass on it until you asked. You weren't that far off actually.
Emin Bu February 12, 2015 at 12:35am

Now I feel stupid bcs. of stupid question, but you got my point.. ;-)
Developer

Randy February 11, 2015 at 11:46pm

@Emin,

Sorry, to be more clear, I'm referring to just the accelerometer on the lsm303d, not the compass. AC3.2.1 still doesn't have automatic failover of the compass. AC3.3 will (and the ability to disable the failover).
Emin Bu February 11, 2015 at 11:17pm

Randy and dev...but that indeed is very risky situation to give all control to the lsm303d who sits down close to the cables.Can you do something to enable compass in second GPS/compass module instead?
Stephan February 11, 2015 at 2:19pm

Excellent thanks! Good job guys!

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