With latest master, I experience still a massive forward drift in manual mode with my quad. Reverting to stable, this drift does not occur. Sensor calibration / parameters were not changed. Any idea, what the reason could be? Thank you.
Is your quad front heavy?
I’ve had a similar issue recently. The cause was that the integrator wasn’t woking properly. I reported this issue here and it was addressed here.
I would suggest that you check if the integrator is working by putting in some printfs here.
Not very much. But the behavior seems to be exactly, what you addressed. Over the time, the effect increases continuously. After some time the quad could hardly be controlled any more. I’ll have a look on to the integrator, as you suggested. Thank you.