I am running the most current SVN trunk as of 11/12/10 and in the process of tuning the PID loops i run into a situation where while reading the PID loop output and the motor output the Yaw output of the PID loop goes crazy. If we hold it steady and increase the throttle to the 1/3 mark the roll and pitch are fine, but the yaw PID steadily increases until the yaw PID output is maxed. Of course this causes two motors to spin at full throttle and the other two to reduce to nill, manually rotating the copter causes a small bump in throttle output for the ones at nil, but not enough to make a difference After checking the sensor outputs (and switching oilpans) the data is consistent and hardware independent. I am at a loss as to what could cause this, does anybody else have any ideas?
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You should rather use our Alpha release code, trunk codes are not stable.
You can find Alpha code from our wiki download area