"Had Another go today.
Disabled compass,reloaded the code and still the same.
Starts off hovering in one spot,than after a bit of maneuvering ,
hands off the controls and the quad still moves around.
here are the accell and gyro offsets,How do they…"

"So Can some please confirm I am doing this right in the code,
As it dosnt seem to be working well.
 
Ok for a 6 channel TX,
from control_Modes.
if (g.rc_6.control_in > 800){     // is this correct???for 6th channel radio
if (g.rc_7.control_in >…"

"Is there any way to do this with a six channel TX .
As I have the same problem>
The quad moves forward ,even after calibrating.
 
So with a six channel TX can I re -calibrate the Acc in the air,
Or do I need a 7 Channel.
 "

" I am alittle confused,
Do the radio trims have to be centered ,before GPS works?"