This is to let you know that AC2 beta has been updated based on everyone's feedback. I think we're getting closer to a full release.
Things to concentrate on:
Logging - Logs are the most helpful thing you can post. If you have an issue, please post the log and let me know where to look.
Altitude hold: The Dterm was a bit too aggressive preventing the copter from changing altitudes. It's been lowered by default to 0.03. If you have trouble changing alt, try adjusting this value down a bit.
Mission scripting was a bit broken - fixed now.
Frames have now moved out of the CLI and into defines. This means you'll use the download tool to grab the frame config you need from the start. This makes the code a lot simpler internally and saves a lot of code space.
There is a newer rate based navigation algorithm (above in Flash) to try it, set this parameter in APM_Config.h and upload with Arduino:
#define NAV_TEST 1 // 0 = traditional, 1 = rate controlled
The sim above in Flash now addresses the steady state error with the I-term. PID's are great ;)
It's set to hold 4.5 M/S right now. It may not beat the wind yet, it's still limited to Pitch Max of 18° That will change for the release to full 45° pitch. This will let the copter fight high winds in WP mode.
Lot's of other minor tweaks to improve performance.
Please post all issue to the issues list: