I've loaded arducopter (tri) 3.2 onto an APM 2.6 and attached a uBlox NEO 6M GPS inside a dome.
After calibrations (ESCs, GPS [external compass] with good offset values [COMPASS_OFS_X,-73; COMPASS_OFS_Y,-81; COMPASS_OFS_Z,43], Accelerometers), I can fly the tricopter in stabilize anytime. Alt Hold is quite jumpy (I do have foam inside the APM case over the barometer chip) and loiter and RTL do not behave well at all.
Can anyone suggest what I might try to see the GPS function properly?
I have a quadcopter with a similar separation between the GPS and the APM and it is steady when using loiter, auto, rtl, etc.
I've attached a recent flight and the file of my APM parameters. Whether the acrylic dome is on or off, the tricopter flies similarly.
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[SOLVED] After putting a new GPS UBlox on top, the tricopter held its location just fine. I threw away the old, non-working GPS.