Hi Guys,
Great forum. I have been flying my APM 2.6 for a few months without any major problems. I am currently running firmware 3.1.5 and have done circa 50 flights on this version without any issue. However, a couple of days ago I was in the middle of the 2nd flight of the session and the hexa started to pitch forward and roll slightly to the right all the time. The only thing I had done from one flight to the next was change the battery. I was in alt-hold when it started exhibiting this strange behaviour, switching in to Loiter levelled the copter. I landed, disarmed, rearmed and still had the same issue. I tried disconnecting and reconnecting the battery to give the APM a reboot, the problem stayed. It was constantly pitching forward and rolling to the right.
I plugged the APM in and compared the params to a previously saved version. I noticed that both the AHRS_TRIM_X & AHRS_TRIM_Y values had changed from there current setting. I verified this by checking the params at the start of each log file. It appears that the value changed mid flight! After resetting the value manually I have test flown and all seems to be well.
Does anybody have any idea how this can happen?
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