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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  • @Randy -Yes, we "Pixhawk users having accel calibration/health issues with 3.2" need some love. I went back to AC3.1.5 and am now operational, but continue to hope for a fix for AC3.2.

    PS: Thanks for getting 3.1.5 up on MP.
  • @Randy any love for us Pixhawk users having accel calibration/health issues with 3.2?

  • Developer


    I updated the battery failsafe page before the AC3.2 release so it should be correct.  If you ping me a log file I'll have a look.  The mistake most people make is they set the "Reserve MAH" value too high.

  • @pedals2 paddles

    That was it. 4500 not 45. Silly you say? No more like dummy... Thanks! I can't imagine needing that kind of accuracy in range?? aka somebody wants max angle at 3850 not 3800?? But as long as I know what it is. At least I can snag all my params from droneshare to get back where I was before genius here had to mess with things. ha

  • Can someone point me to how to set up the Battery fail Safe with FW 3.2 official release? the wiki seems out dated and i am only getting 4 minutes flight time on 8000mAh 11.1 batteries. i am sure its me and not having the correct settings. but this didnt happen in earlier versions of the firmware, started having this problem around RC 10-RC13  thanks in advance

  • Randy

    I have update to beta MP ,now I can pick the v3.1.5 .

    Thank Randy .

  • I have done what the wiki says. I also noted the params do not save to memory after write. If I unplug and power back up the params revert to defaults. I do a compass and rc tx calibrate and they dont save either.

  • @Pedals

    Yea but I'm %90 sure I tried 4500...  but that does seem like the most likely candidate. Might be I forgot or didn't write the new param. Thanks though for the idea..  I'm going to do that again just to make sure it was in fact me. Probably.. ha

  • Developer

    @勇進 湯,

    Sorry for the troubles.  AC3.1.5 not being available is a MP issue.  MichaelO has resolved this in the latest beta MP so you could try that out (Help, Check for BETA updates) until the offiicial version handle this.

  • Developer

    @Early, AC3.2 on Pixhawk with Lidar-Lite should work and the wiki is here.  You mention you're using Plane so I'm less sure about that and it would be best to post on Tridg'e AC3.2 release blog post I think.

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