Please note that the initialization of Gyros was requested to move to the Arming function. This had the unintended consequence of making the Ground Station report erroneous attitude until the unit is armed at least once. This is changed already in the next version 2.0.39 which is still in development. Thanks.
This is a nice update and is recommended for everyone. I've gotten a half dozen flight in with it and have had good success. I'll be incorporating some of the ideas mentioned in the suggestions post over the next few versions.
I reworked the startup so it's much faster. Also, a feature a lot of folks wanted, calibrating the IMU at first Arming is in there. If you hand launch, please do your first arming of the motors on the ground.
I enabled a mode filter for sonar. Not too thoroughly tested performance wise, but it does work. (note, if you rely on the rangefinder class, you must rework your code to be compatible.)
RTL bugs are squashed and it's flying really well now.
Added a special filter in the PID for the derivative term to get rid of the alt hold and loiter issues from noisy sensors.
Added a completely experimental mode called circle. It will by default spin the copter in a 10m circle from the point at which it was engaged. And it will Yaw towards that point at all times.
Yaw while navigating happens at quarter speed, which was problematic before.
Roll and Pitch Imax are higher 5° than before (.5°)
Logging seems to work now. Please erase the log after installing.
Everything else is mentioned on the SVN.