APM Copter 2.9.1.b has been released to the Mission Planner and is also posted in the downloads area.
2.9.1b is a maintenance release incorporating changes to 4 default parameters that have been optimized since 2.9.1 was released.  There are also 4 minor bug fixes.  There are no code function changes or additional features.
The changes are:
1) reduce default INS_MPU6K_FILTER to 20hz
2) reduce InertialNav Z-axis time constant to 5 (was 7)
3) increased max InertialNav accel correction to 3 m/s (was 1m/s)
4) reduce yaw_rate P default to 0.20 (was 0.25)
5) bug fix for alt_hold being passed as int16_t to get_throttle_althold_with_slew which might have caused problems if you climbed over 320m.
6) bug fix for throttle after acro flip (was being kept at min throttle if pilot switched out of ACRO mode while inverted)
7) bug fix to acro trainer to do with roll correction 
8) prevent cli from being entered more than 20seconds after reboot.
Users are recommended to:
    Update Mission Planner to 1.2.41 and
    Update their flight code to 2.9.1b from the Firmware tab on Mission Planner. There is no need to go through a new configuration process in the Mission Planner.


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     Have you checked your vibration?  That's the most common problem with Alt_hold.  I've made a video here which may help you work through this.

Thanks will try that tonight.

I also see some difference in your Rate_Loiter against my default value.

Yours 1.0 mine 5.0..

I bought the DJI F550 Landing Gear Set from Aeroxcraft.

Had to change it a bit to fit to the HAL.

Please make sure you're both using the same version of the firmware.  The Rate Loiter P parameter was reduced to 1.0 with AC3.0.1-rc1 while 2.9.1b uses 5.0.  Loiter performance is very very different between the two versions.

Why isn't the beeper a default for Arm and Disarm?  It seems with all of the safety concerns, this should not be an option.  

I want the Arm and Disarm to beep.  I have read where individuals are adding hardware and etc.  Can't I use the beeper that is installed on the APM?  If so, please show me where I can turn it on.  

The LED on the APM is the only way I can tell if I am armed or not.  I just want to add the "beep".



I used this setup http://copter.ardupilot.com/wiki/nav-leds/

I only selected AN4 ,AN5 and AN6.
This gives me GPS, Visual Armed/Disarmed and beeper.
Set led mode to 11 in the advanced param list.

Beeper will sound when armed and disarmed as well as led indication.
GPS led will indicate fix or not


I am fine with the on-board leds for GPS, Arm and Disarmed.  If I set the led mode to 11 in the advanced param list will that give me the beep for arming and disarming?

Where is your audio beeper coming from when arming and disarming?  


Yes that's it.
Thanks i have changed it back


In case you just need a beep for arm / disarm you can just set the led mode to 8 ( if I recall wlell as I don't have the MP here) in advanced list or to "Buzzer" in the standard parameter list.

Beeper is hooked onto port AN5 as mentioned here (http://copter.ardupilot.com/wiki/nav-leds/)

I would suggest NOT to power the buzzer from the apm pins but to go for the option of using a driver like the ULN2803. This way you do not stress the outputs of the controller as they can only deliver a limited power.


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