Alt Hold, Loiter - Retro thinking for a new solution?

Don't know if this has been thought of and dismissed or not. How about using the IMU as an INS.

 

I think most of us are expecting higher accuracy than is possible while keeping cost down. We also have a problem with perception of error due to scale. B

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Hexa plus configuration

I have nearly finished convert my quad to a hexa. I want to fly in + mode, could you let me know which arm to point forward. The wiki only shows x mode drawings at the moment. Great job acm2 team

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