Discussions

2.0.16, Now that Yaw PID vs PI bug was found and sorted, this version reverts back to Rate based Yaw. You can still change that in APM_Config.h.

Made minor change in Loiter to check something. I had two different approaches to navigation: one is for traversing and one is for holding. Loiter would switch modes based on distance to target. I temp disabled that to eliminate a variable for testing.

Motor LEDs now enabled. Let me know if they work OK.

Armed Motors is now Solid to match GPS behavior. This is just to make things less confusing in the long run.

in 2.0.17  I'll add the motor spinning at ARMing option as a compile time thing.

You can edit the code yourself, if you want that option now.