Testing Ardupilot 2.5 from Jason Short on Vimeo.
Here's a video of testing today. I had a flawless run of the T3 round two course. Everything was looking good. I'll post the code today on the repository.
Some flight notes. I completely remove the I term (by setting it to zero) for Roll and Pitch which helped tremendously. I went from highly unstable turns to nice smooth ones.
Altitude hold seems to have a slight oscillation for me. You can here the motor go up and down as the plane pitches up and down slightly. Any thoughts for dampening this out?
I reduced the loiter radius to 20 meters which the plane doesn't like. It tends to do figure eights around the home position. I'll increase that to 30 next time.
I'll post the code tonight.