I posted a version of 55 that duplicates the Stability patch, but for alt hold. I'd love for a few people to fly it and let me know if it works well for them.

If it's OK, I'll post it to 56.

Jason

http://code.google.com/p/arducopter/downloads/list

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lose control, the coper spin around.

interesting findings, I have not had time to look at this yet. Maybe it's a bad contact on the yaw cable, I'll will be in touch, thank you nicolas :)

It seems like the yaw in and ch4 are zero most of the time, a peek up and down before the half of the flight

After the negative peek ch4 go high, this is strange?

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