@tridge That last flight was on latest master, so it should have had 400Hz ESC outputs, and mavproxy claimed I was in qstabilize and qhover mode, not fbwa. Is is it possible to hover in FBWA mode? The motors were spinning when armed, which is not the case in FBWA. I did at least 6 takeoffs and upright landings in that log.
I"ll have to pay closer attention to system status. I don't know why there was no GPS lock; maybe the cable is damaged. Will have to get the pre-arm checks working properly; do they require just a 3D fix, or are there also constraints on hdop/vdop as in PX4?