"You can do both, it is possible to read the bytes you want straight from the port, but this might be a bit complicated since there is some mavlink stuff going on usually so you would need to know what kind of messages you want to pick from the…"

"Yes, it is possible, and it would be really beneficial. I have made some tests for some simple position fusion with IMU and it makes the position much better and theoretically even faster. But the thing is that full blown Kalman filter wont be able…"

"We seem to have some issues with sonar (lv-ez4) not working properly in cold enviroment (below 10C). Once I took our quad outside, sonar would just report 0 or 20cm, and would start working again after few minutes once it was brought inside.
 
It…"

"I had similiar issue with simple mode, at first it was working just ok, but after a while of flying (and testing loiter) it would be somewhat "oversensitive" so that even small stick movements would send to copter bolting on some direction (there…"

"I think I have same sort of issue, though I managed to get alt hold to be fairly accurate with PID tuning, but loiter is just zooming random direction at large angle. What is suprising is that RTL seems to work fairly well (atleast while I tested it…"