With Ardupirates and earlier versions of Arducopter I had a problem with gyro drift. I thought this was not a problem with the 2.0.46 version I'm running now, but I have started to notice it again when flying in windy conditions.
When holding quad against the wind in Stabilize mode, after a while the center point drifts. So when I let go of stick the quad banks hard to the opposite direction. I almost lost the quad because I was no longer able to give enough left tilt to get back, I had to turn 180 degrees and tilt the quad right to get back. When I got it back I noticed that the camera gimble was tilted almost all the way to one of the sides, even if the quad was in level flight. So I assume that there is a gyro drift issue. The quad thinks it's tilted to one of the sides even if it's not.
I have been through all the calibration sequences, holding disarm for 20s etc. The quad flies perfect in calm wind. The problem only appears when holding it against wind for some time. Sensor pads on the board is soldered.
Can this be caused by the board not having enoug vibration dampers underneath?