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Hi All,

I'm finally getting around to tuning in the values for my quad under 2.8.1. It flew nice as ice previously, but it gets a bit jittery sometimes after the update. I've started with this guide: http://diydrones.com/forum/topics/arducopter-tuning-guide

The problem I'm having is that the rate D and rate I values to zero don't seem to stick:

0) Plug in USB with battery unplugged,

1) Download fresh firmware,

2) EEPROM wipe,

3) Calibrate radio, including pot on CH6,

4) Set to + mode,

5) Set CH6 to tune P from 0.05 to 0.225,

6) Set rate I and D for roll and pitch (locked) to 0,

7) Write params,

8) Refresh params, the values have stuck, and the rate P varies depending on the pot position,

9) Disconnect APM planner,

10) Disconnect USB, reconnect USB,

11) Connect APM planner,

12) Refresh params. What? Where did these non-zero values come from?

Any ideas?

Thanks,

tjhowse.