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:

Spline waypoints

Do_Jump, Conditional_Distance, Conditional_Delay fixed

Do_Set_ROI persistent across waypoints

Condition_Yaw accepts relative heading (i.e. current heading + 20)

Reset horizontal position target when taking off in AUTO to avoid lean due to GPS position drift

Rally points (Pixhawk only)

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.