Trouble with RTL and AUTO

This is really a two part question since I've been unable to find a definitive answer.1- What is the difference between v1.02 and the current v2.12 of APM? My impression is that v2.12 offers newer features, just recently came out of beta, etc.2- My rudder and elevator only plane seems to be OK in FBWA and Stabilize, and when I switch to Auto or RTL, I not only have control over the throttle and movement, but it does a snake-y figure 8 and never makes it to waypoint 1.I've attached a picture of my PIDs and the path (all the weird loops are on RTL or AUTO).

Screen shot 2011-05-27 at 11.23.58 AM.png

PID Values.png

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Avalerion May 27, 2011 at 10:35am

I've gone through the Tuning process, but Auto should still control the throttle (no?). Do you know the difference between the 1.0 APM board and 1.4? Is it likely that there could be bad hardware?
DaveyWaveyBunsenBurner May 27, 2011 at 8:31am

1. The big improvement is Mavlink protocol which is a standard protocol for communication between groundstation and aircraft.

2. It sounds like your nav_roll gains are to high. Have a read of this (point 6 specifically) it will explain all:

http://code.google.com/p/ardupilot-mega/wiki/Tuning

Good luck!

D

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Trouble with RTL and AUTO

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