ArduCopter 3.2 ready for wider use

After months of testing, ArduCopter 3.2 (aka APM:Copter) is ready for widespread use and we invite all users to give it a try.  In order to manage the support load at first it will be available only through the Mission Planner and APM Planner2's Beta Firmwares link.  This link is visible from the regular "Install Firmware" page if you check the "Advanced View" on the Config/Tuning >> Planner page.  On APM Planner2 the "Advanced View" it is under the File menu.

In about two weeks we plan to replace AC3.1.5 with AC3.2 as the default version dispensed by the ground stations.

The full list of changes can be found in the ReleaseNotes but here are the highlights:
Flight Mode Enhancements:

  • PosHold flight mode: similar to Loiter but with direct response to pilot input during repositioning
  • ACRO mode handling improvement EXPO (for faster rotations)
  • Drift mode uses "throttle assist" (similar to AltHold)
  • Smoother transitions between flight modes (i..e when entering Loiter or RTL from high speeds)

Mission Enhancements/Fixes:

New Sensors/Devices:

Safety Features:

  • EKF/DCM check will switch to LAND mode if heading error > 60deg for 1 second
  • Baro glitch detection
  • Pre-arm check for Gyro calibration success
  • Pre-arm check that internal & external sensors (gyros, accels and compass) are consistent (Pixhawk only)
  • Parachute support (Pixhawk only)
  • Feedback to Pilot when taking off in AltHold, Loiter, PosHold (i.e. motors spin up a little as throttle is raised)
  • EKF (new attitude and position estimate system only used for reference in this release)

Bug Fixes:

  • Pixhawk GPS driver buffer overflow that could lead to missed GPS messages
  • Pixhawk I2C bug that could lead freeze up if I2C bus is noisy

Known issues/Warnings:

  • Pixhawk users will need to recalibrate their compasses
  • PosHold won't show up as option on FlightMode screen if you have an old version of mission planner.  Please select Help > Check for Updates
  • Landing detector is more strict meaning it may take longer to disarm after RTL, AUTO
  • Set THR_MID parameter especially if you have a very powerful copter because "Feedback to Pilot" raises throttle to 1/2 of THR_MID
  • Spline twitches slightly as it passes a waypoint especially if WPNAV_SPEED is set > 500.
  • Dropped support for NMEA and SIRF GPS on APM boards (ran out of Flash space)
  • Dropped ssupport for sonar for MultiCopters on APM1 and TradHeli on APM1 & APM2 (ran out of Flash space)

If you hit issues, please post them in the APM Forum and include a dataflash log file if possible.

Special thanks the Marco and the Beta Testing team from the AC3.2 beta testing thread who put their copters at risk in the pursuit of a smooth, safe release.  Here are links to some of their videos: Marco's DJIs900, Holger's Water Tower, Josh's Acro, Ray's TradHeli2&FPV, Raph's Hawaii, PhillS's CommandYawThor's Zombie Run&FollowMePhanivyas's Test, Rob's TradHeli, Christian's Test1&Test2Balloon's Spline, JimJ's FPV, Ultrojo's ROI & Spline&FollowMe1&FollowMe2, Troy's Mission

Thanks also to the code contributors to this release including Tridge, Jonathan, Leonard, RobL, Paul Riseborough, MichaelO, Julien Dubois, David Dewey, Andrew Chapman, Emile, Allyson and many more.  If you want to get involved check-out our dev wiki.

E-mail me when people leave their comments –

You need to be a member of diydrones to add comments!

Join diydrones


  • Developer

    @Esteban, could you drop a log file into the APM Forum?  I'm not sure what could cause that.  I'd worry if it happened multiple times but if it's just once in the logs then I wouldn't worry too much.

  • Developer

    @reuben I just tested the latest MP Beta and the RSSI and remote RSSI values display correctly for me.

  • Randy the mag_field from some of my logs is above 30%, I get messages like this:

    Test: Compass = FAIL - Large change in mag_field (43.65%)

    My pixhawk is mounted on a TBS Discovery with Neo 6m GPS/Compass mounted on a pole 12cm above the top plate.

    Already did compass calibration, compass+mot which showed 1% interference...

    What could be happening?

  • Thanks @Randy.  Haven't tested yet but I decided to increase the WPNAV_RADIUS from 2 to 6 meter.  

    Do you think this will help?  what about the WPNAV_LOIT_JERK ?

  • Developer


    Re the spline twitch, it's a 'known issue' which sadly we won't be able to fix for AC3.2 but will sort out for AC3.3 (or maybe AC3.2.x).  We've gotten rid of lots of twitches in AC3.2 (vs AC3.1.5) but this one (in the new spline code) was tougher than most.  It involves the short-period of time between when the target position reaches the end of the current spine segment and when the next segment is loaded.

  • Developer

    No, Reset to Armed Yaw isn't supported in manual flight modes (Loiter, Stabilize, PosHold).  This came up during early testing of AC3.2 and I think that the testers involved were ok with using simple mode instead.  It's a little different because of course in simple mode the vehicle's nose doesn't move while it does with ResetToArmedYaw but the effect on the pilot's controls is the same.  Could you give it a try and tell us what you think?

  • Same here with ResetToArmedYaw...

  • Is ResetToArmedYaw suppose to work?  I was just trying this feature out and couldn't get it to work.

  • Hi guys what happened in the latest mission planner .11  I have no more rssi and remote rssi readings on my dash only zeros?

  • it seems that your value of yaw pid is not correct. I had the same problem. Than i increased the value of P and D of yaw. Now its much better.

This reply was deleted.