Flight Test Process

To Test GPS position / altitude hold: 1. First, it´s important that your Stable Mode is working OK 1. You need to wait until GPS gets a lock (it´s better to wait a bit more to get more satellites) 1. At field, before flight you could check that you can enable/disable GPS position hold with your transmitter switch. Orange LED is on when GPS position hold is enable. 1. Start flying in Stable mode with position hold disable. When you reach the desired point enable GPS position hold. It´s important to know that the altitude hold control takes your actual Throttle position as "hovering point" so it´s important that you are not ascending/descending when you switch to GPS position/altitude hold.

What you should expect?

The quad should stay in an around 4-5 meters "circle" around the target position If there are some wind, it takes some seconds to the control to compensate for this. If the wind is stronger you could see that the control could not compensate at all and you will have more error (ex 10-15 meters).

Actual altitude control is a very simple solution so you could expect to be into 1-2 meters error.

You can use the stick to move the quad manually in GPS position hold mode.

If you move it manually and then you release the stick, the quad should go the initial position.

In GPS hold mode, altitude is also held. In this mode, you can manually command the quad to rise or fall with the throttle stick. When you let go, it should stay where you left it.

Tips

If you are having problems with yaw, first start disabling the Magnetometer (Command line #define IsMag) in ArduCopterNG.pde. Now you are flying only with gyro on yaw (Don´t use GPS position hold in this setup) and check that your yaw works well.