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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I recently did a full reset and re-setup on APM2.5 and everything is fine except....something a little odd but it only happens in ALT_HOLD - if I try pitch forward the quad drops like a stone and if I pitch backward it climbs like crazy, almost like pitch is mixed in with throttle? If I stop pitching forward then there's a slow recovery to original height, same for pitching back. I reset and did the whole setup from scratch again but it's still there? Weird...


did you check radio calibration if all the channels respond like they should?did you reconnect motors in a different way maybe?is it x or +?

Everything else is fine, nothing else was changed, quad flies great and it's always been setup X.

I flew 26 minutes today, some hard and fast, other times slow and controlled, RTL, LOITER etc. Just in ALT_HOLD it drops FAST when trying to fly forward and climbs hard when flying backward, very strange.

sonar is strange fellow,is it on or off'

No sonar, never had, just checking the logs now to try figure it out

Randy and leonardth might know but i dont see them lately...where are you dudes? 

Yeah odd stuff, pitch forward and the throttle decreases, pitch back and throttle increases. Maybe something's wrong with my setup...


maybe you uploaded wrong firmware,maybe is hexa not quad?go to terminal and check...

Terminal says ArduCopter V2.9.1b, firmware uploaded was Quad X, where do you see hex?

nowhere,but behavior like that is similar like once i uploaded wrong firmware...sorry i just try to help with ideas,i am not any better expert than you.... 

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