I finally got all my Arducopter configuration parameters squared away so I decided to take it to the park yesterday to test it out. I took off and got my quad into a stable hover at about 10 to 15 metres. Everything was looking good so I decided to go for it and try out GPS hold.To my delight it worked! It was thrilling to be able to take my hands of the controls and just have my quad hanging in the air, visibly making small corrections to stay in the same place. This was all good until I tried to yaw the quad (I have a keychain cam on the front and I wanted to film myself). The quad yawed, but it started oscillating in both pitch and yaw. These oscillations built until the quad eventually fell out of the sky. I tried this a few more times until I'd exhausted both my batteries. Same story: fine until I tried to yaw. Fortunately there was no damage. I've put loads of padding on my quad, weighs a ton but saves me $$$ on props!I'd be interested to hear what you guys think. Should I try and improve my PID settings? Maybe reduce the maximum angle? I'd appreciate your thoughts.Cheers,Chris
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For some reason, my CCW Yaw is very weak almost uncontrollably so in stabilize mode.CW yaw sems fine- not sure if this related to the problem you experienced.
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I think you'll be a lot happier with the ArduCopter 2.0 software, which will probably be coming out next week, after Sparkfun.