ArduCopter 3.2 Released

ArduCopter 3.2 (aka APM:Copter) has been released as the default version replacing AC3.1.5. This is the exact same version that we invited all users to test two weeks ago.  Users who wish continue using AC3.1.5 can find it under the "Pick previous firmware" version on the MP's Install Firmware screen.

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 support 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 to 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 CommandYaw, Thor's Zombie Run&FollowMe, Phanivyas's Test, Rob's TradHeli, Christian's Test1&Test2, Balloon'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.

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  • oh ya, in my video, when i put my handphone to the ground, its mean my loitering going crazy ...

  • 3702218624?profile=originalthis is my Channel Input and Channel Output Orientation, why on channel 5,6,7,8 that i didnt use, the signal out is full ?? is this normal ?

  • Hi Randy, you are very best and u are my favorite pilot :D

    I use 3DR APM 2.6 clone, and i want to make my quadcopter good in loiter, this is my standart parameter that i have from standart latest firmware AC 3.2.1
    3702218493?profile=originali was calibrate All of things, i use external compas with ROTATION_ROLL_180_YAW_45

    this is my Channel Input and Channel Output Orientation, why on channel 5,6,7,8 that i didnt use, the signal out is full ?? is this normal ?

    went i try to Loiter, working well, but after around 2 minute maybe, quadcopter going crazy, and i must switch to Stabilize mode to handle it,,

    and this is the Datalog,

    Hope you can help me, please
    Best Regards from Indonesia !!

  • how did you connect the APM to L293D??

  • Nope, ESC calibration is under setup, not motor sync. It has disappeared.

  • Developer
    It's under setup now....
  • Has the motorsync test been removed? I can't find it in the CLI

  • I haven't seen that the "AC3.1.5" it's actually at the end of each line in that drop-box. Thanks!

  • In m planner down the octa you have a previous firmwares button, there you can find the 3.15, if you don't able to fly 3.15 too, try to erase all and reinstall 3.2.1 . Good luck.

  • I did install v 3.2 today on my X-Hexa and I got into serious problems. The front motors are not reacting to atitude modifications at all. They spin according to the throttle input but no reaction at all. The hexa flips instantly once I get the throttle to 25-30%. I switched the motors - same result; switched the ESCs - same result.

    I did all the initial wizard steps about 5 times, still not able to fly.

    Previously I had 3.1.5 that was perfect, but now I don't know were to get it from since MissionPlanner only displays the 3.2.

    Anyone else with problems like this one ?

This reply was deleted.