What does it do? I just updated the APM Planner to 1.1.77 and it changed the TRIM_THROTTLE from 425 to 531. I just started to re-tune my PID and throttle hold went first. Bam! The heli hit right to the ground in a split second as soon as I switch the mode. Bench time again!
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What you're looking for is the variable angle_boost, and the function get_angle_boost which is in Attitude.pde.
Replaced the front torque tube gear set and testing again. This time, I just hover. Looking at the log, the sonar is working extremely well.
One more thing you may noticed that the Pitch_IN/Pitch keep increasing. I was simply holding the heli at the same spot hovering, yet, I had to give it more and more pitch to hold it still. Then it became a bit much, so I landed it. Disarm and re-arm, and hover again. I have no "I" in the Stab Roll/Pitch just to rule out that the "I" would have something to do with it.
2012-04-30 14-14 1 nice sonar.log
Oh man, poor guy. I'm not sure what that does or why it changed. In fact, I don't even think it should have changed due to an MP update? That's weird.
Did you take off and immediately change to Alt_Hold?