"I use the Ardupilot codebase in a university setting. I personally found the Ardupilot code to be much easier to follow and more straightforward to change. I also find that the developer website for ardupilot to be pretty well documented. Ardupilot…"

"I need to double check but I think its a 4S5P pack so 17000 mah @ 2C rating(at most) I can draw about 34 amps. I think on a slightly less heavy version I flew it for about 25 minutes. I recently added about 300g which I think from calc's didn't pose…"

"Thank you! I will have to confirm my pixhawk's are both up to date. I was fairly certain that my newer vehicle had most up to date firmware but will double check."

"Thanks Henry for looking

Couple things - I'm fairly certain on the loiter the throttle mid was set at 550. I know the alt_hold_fail.bin was 100%. But regardless of it if was 400,500 etc..I don't see why the throttle out for a moment drops to 200. …"

"I followed steps on the wiki for setting thr mid and all other needed calibrations. On previous flights I looked at imu and saw that vibe looked great so I tried originally to go for loiter right off the bat (since I never had problem with alt hold…"

"Did you have to change your throttle gains much to get alt-hold to work?

I am having similar problem with two different vehicles(110kv(4kg) and 360kv(2kg)) with pretty much identical problems. When I switch to alt-hold the vehicle drops couple…"

"I like the decoupling of boards as well- our group has had a lot of success with both apm/pixhawks talking with separate onboard computers. Also from safety side I think it makes more sense. Other computers that should be looked at are Gigabyte…"

"I'd recommend building the UART_test in /ardupilot/libraries/AP_HAL/examples/UART_test to see if firstly you have the setup correct and that you are indeed getting anything.

Where is that code you have above live? Are you enabling the uartE? Are…"