Firstly thanks to Jason for his New Alpha code. 2.0.40. Randy for all the help and Martin who keeps supplying tea
The new control laws that he has implemented work really well. The oscillations have virtually disappeared in stabilise, and Loiter held for over 8 mins with only very slow drift, had to bring the heli back to the start point twice.
I think i need to adjust the I value to get a few more degree's to fight the wind.
Also needed to wait until the GPS got as many sats as possible for the most stable hold.
I set the APM_config.h file so that Loiter had a manual throttle (collective Pitch on trad heli). I added this as well to lessen the lean of the heli. Although i might be wrong and it could be for something completely different.
//////////////////////////////////////////////////////////////////////////////// Autopilot control limits////
how much to we pitch towards the target
# define PITCH_MAX 22 changed to 10// degrees
changed this too as the Trad Heli would not fly well in this mode
#define ALT_HOLD_RP ROLL_PITCH_SIMPLE to ROLL_PITCH_STABLE
Next is to try Loiter and ALT_HOLD together.
WE also shot some video of martin flying after a rebuild that took us 2 hrs, we decided to close the throttle. One motor didnt fire and we it hit the floor hard. This video is the rebuilt quad really impressed with how quick it was. we had another problem. Watch the vid :)