I've just released ArduPlane 2.32
This is a minor update with 2 changes:
- added a new MANUAL_LEVEL option which has been asked for by several users
- add noise resilience to the automatic compass offset learning
The new MANUAL_LEVEL option is a boolean option. If set to zero (which is the default) then the existing behaviour of doing automatic accelerometer calibration on every boot is used.
If you set MANUAL_LEVEL to 1 then it won't calibrate the accelerometers on boot and will instead use the values from the last time it did a calibration. The idea is that you get a good level once, then set MANUAL_LEVEL to 1. You can then redo the level using the mission planner or another ground station, or by setting MANUAL_LEVEL to 0 and restarting.
The compass learning change is based on feedback from the last release where noise in the magnetometer caused the learning to be quite bad for some people. The automatic offset learning should now be robust to quite large amounts of magnetic noise.