[vgwit]

Have tried to simulate speed in similar way on latest firmware. 100 m/s results in 3 km/h on OSD.
Will write to developer.

[TheOtherCliff]

I suggest you try the firmware from the LP wiki.  Really. 

[f5soh]

Download the fixed 16.09 firmware (LP-504+LP-462), rescue, choose the firmware downloaded and flash.
Or even better, move to Next.
Sorry didn't remember this 16.09 issue.

[vgwit]

Thank you.

Have flashed fixed 16.09 and now speed looks good.

About altitude. I understand baro is more accurate in short timeframe while GPS more accurate in long. So for lengthy flights it is mandatory to have their composition (fusing). But taking off for 5min flight having 9-10 sats  I see -21m ground altitude. Is just waiting for more sats the only way to have it more accurate?
Why not subtract it on arming to have zero?

[f5soh]

Why not subtract it on arming to have zero?

Altitude displayed/used is relative to the Home location and Home location can be set away (not the same altitude) from take off location.

Is just waiting for more sats the only way to have it more accurate?

VDOP give a value related to GPS altitude accuracy which is not directly dependent from the sat number.

If you want to ignore altitude correction by the GPS in long term you can try setting:
RevoSettings > BaroGPSOffsetCorrectionAlpha to 1

Please note 16.09 do not set the initial BaroOffset value (after a filter reset) very precisely so you will expect a difference on altitude displayed, even if Home location and take off are in the same location.

[vgwit]

Thank you,

will try to set BaroGPSOffsetCorrectionAlpha to 1.

Does LP send DOPs via MSP? I don't see it in MSP bridge.

And last question. Why camera stabilisation does not work with INS13 algorithms?

[f5soh]

If MSP protocol do not handle DOP, DOP is not sent.

Camera stabilization do not depend on fusion algorithm and works the same since the INS13 is initialized and running.

[vgwit]

Hi,

have flashed LP16.09_LP504_LP462 to have velocity correct. Now it's fine.
But ReturnToBase behaviour has changed. Now quad does not go straight up to AltitudeOffset but simultaneously does a considerable pitch toward base with acceleration. Then passes base point and still goes further several meters. Do I need to recalibrate sensors after firmware change?

[f5soh]

There is no need to recalibrate sensors.
The firmware i linked (MSP_speed_fix_16.09 in Firmware tab) is exactly the same as original rel-16.09, with additional fixes for MSPBridge.
You will get the exact same behaviour using the original firmware.

[vgwit]

...

[TheOtherCliff]

Did you find out the cause of this?  I am going to guess that you have VtolPathFollowerSettings Max Horizontal Velocity (or similar name) set very high.  Maybe VtolPFS max bank angle set very high.  Etc.  ? 

[vgwit]

Have changed nothing in VtolPathFollowerSettings except HorizontalPosP from 0.25 to 0.15 - 0.3.

Now I'm uncertain about correct HomeLocation at time of those flights. I suspect HomeLocation > Set was set to True with lattitude/longitude/altitude set far away (about 30 km). OSD altitude also says about it because it shows -17m during take off.
But if it'd true then OSD pointed that direction and quad go to that remote location in RTB mode wouldn't it?
https://drive.google.com/open?id=13C91teYoH5thzrMMS0nApx4HhWPUtclv
https://drive.google.com/open?id=1OQl0P85Roy-Wbkj3OmhKlOKiBHg-FeTQ

[f5soh]

RTB return to the takeoff location

[vgwit]

I'm slightly messed. From LP user manual

"The Return to Base (RTB) flight mode uses the full range of sensors available on controller to accurately return to the Home Location without any pilot input."

 

[f5soh]

"The Return to Base (RTB) flight mode uses the full range of sensors available on controller to accurately return to the Take Off Location without any pilot input."