I've recently started playing again with my APM 2.0 (with mediatek GPS) equipped custom frame.
I've flashed Arducopter 3.2 (c8e0f3e1).
Now I encounter several issues, I will list them all:
1) When I switch to loiter (is it the equivalent of PosHold if no way-points are given?), randomly the copter goes crazy, it has already happened two times and I was just able to save it before crashing on the neighbor rooftop :D
2) Alt hold mode is working kinda fine, but it is clearly not using the sonar, when I put my hand underneath the copter there is no reaction, moreover the copter used to follow the ground with great precision while now it would go up and down slowly. The sonarrange parameter is working properly, looking at the telemetry, but I have the impression that the altitude shown in the interface is not taking into account sonar feedback.
3) The copter looks badly tuned compare to the previous build (Arducopter 2.x), even if I copied the PID values from that. I guess that something has changed in the way of considering those values, nevertheless, by looking at the logs, it is maybe possible to give me a hint...
4) I plugged the camera tilt output on output 7, randomy the camera would point upward. I checked the log and it is actually commanded by the output 7, while the rc input is not moving... Is there a safety feature maybe?
I attach the latest log (I don't know which format is preferred). You can identify the loiter going crazy by looking at the roll angle, there is a spike which has been caused by that.
Thanks for your support,
Edit: added point 4