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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  • we cant attach Files here any more?

  • Has anything changed prior to F3.2 RC13 as far as battery fail safe? i seem to be hitting failsafe on multiple batteries including 2 i know a brand new and charged. APM 2.6 just upgraded from Beta RC 13 to FW 3.2 Release.

    please advise

  • I'm encouraged to see others are having the same problem with calibrating Accelerometers using AC's somewhat comforting to not be the only one. I continue to try the various solutions purposed but to no avail. I hope they get AC 3.1.5 back as a selection in MP.

    @Randy....any idea as to what is causing this problem?
  • It's a mission planner bug.  It's been so long that he forgot to put 3.1.5 in the previous firmware tab when 3.2 was released.

  • here's 3.1.5 (4shared)

    arducopter 3.1.5

    i dont know why the previous firmware shows 3.1.4 only.. but I used this firmware to downgrade to 3.1.5, then update to 3.2

  • I don't understand why v 3.1.5 is not available .  Does v 3.1.5 have some bugs , so it is replaced by v 3.1.4.

  • New pixhawk, flashed with 3.2 from mission planner and I cannot reliably calibrate accelerometer. I've gotten it to calibrate once, and it worked for about an hour on my desk. Later after taking a break it started reporting bad accel health. Reflashed 3.1.4 and cleared, went back to 3.2 and errors went away and was able to calibrate again. Took another break and now the bad accel health errors have returned. Pixhawk is mounted upside down, but I have set the board orientation to roll 180 to compensate. The HUD is reporting position correctly.

    During calibration I get NaNs for offsets. This is after rebooting the Pixhawk post-flash.

    Please help, I'm not sure where to go from here.
  • hi,

    big thx to all developers. this release is marvellous.

    Is it useful to use the Apm2.6 on, or is a change to the Pixhawk useful?

    I currently have a very stable and above all hire safe operation flying camera platform with 3.1.5 .. I'm mainly to "spinline way points" and the new "Position Hold" Flight Mode interested. since the apm2.6 now comes to the limits, I wonder if that endangers the operational safety and possibly reduces the reaction rate, the deteriorated that eventually the good flight characteristics.

    i fly a middle big platform, take off weight between 5 and 8 kg. depended to mounted camera. also we fly in commercial use with official climb approval(germany). if we are over 5kg we need all time a single climb approval. currently in NRW(Germany) apm2.x is accepted platform to get this climb approvals. at least for me changing main systems maybe caused other problems at Flight Supervisory Authority. that's why i mainly ask this question?



  • 3.1.5 is not avaliable when you choose to load previous firmwares on MP, or in my case maybe. But I was able to have a hex for the 3.1.5, I wil upload it later. I got my apm 2.6 running 3.2 well when I used 3.1.5 as a return point. First update to 3.2 seemed not to be perfect, but my next attempt went well after reset, reflash 3.1.5 and restore to factory settings. recalibrated everything on 3.1.5, and when everything is running well, performed update to 3.2. flawless update. :)

  • Yes, I have the latest MP 1.3.15
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