Ok, so I eventually got one of my quads working on 3.0.1! Did the compassmot, and eventually started loitering correctly!Also did a vibe upgrade - double moongel corners for APM and the jdrone motor mounts (props were already balanced). The effect has been dramatic. Used to be +/- 5 on Acc z...now....this:
Bump in the middle was a hard landing after I forgot to ramp up throttle to 65% before switching to stablise....AGAIN...:-(
If we zoom in, we get this:
X and Y:
It flies, alt holds and loiters like silk...I tune Loiter back a bit to 0.8 though, and it moves a bit, but doesn't get fidgety.
However, all is not perfect. The motors all seem to be spinning at different rates when level! (I was buzzing about a bit at the end).
There is another problem though...after the hard landing, IT WONT ARM! I have to go to MP to press arm from there. I simply don't know what the problem is. A new failsafe in 3,0.0?