I have two ArduCopters... One with the 850kv motors, 10x45 props and a MB1260 XL-MaxSonar-EZL0 sonar. The second one is a 880kv motors, 12x45 props and LV-MaxSonar-EZ4 sonar. Both on the latest firmware compiled in arduino-0022, 2.0.35 and uploaded to both from arduino-0022.
Something changed in 2.0.35 which causes the motors to gun instead of slowly ramp up to adjust altitude while in alt-hold/loiter. This of course happens on both of my quads.
The larger quad (880kv ez4 sonar) seems to alt-hold and loiter OK but there is an issue with altitude considering the engine gunning.
The 850 kv quad with the ezl0 sonar has worse problems. Alt hold may hold (considering the engine gunning) for a few moments but eventually rises and does not stop or it descends to the ground. Sometimes it will descend to the ground and then fly back up either to a random height OR it will just keep climbing until i recover manually.
The one issue is a code issue, the gunning, this was something chris had done to test some sensors and was going to move the alt-hold code back to where it belonged, this has not happened yet.
So my question is.. Is the ezl0 sensor different in some way that may be causing this behavior? (climbing and not stopping, i was having random problems with this one before).
Im going to disable sonar and give it another go. Attached is the log from the flight with all the alt-hold issues.