Firstly thanks to all the dev team and testers for this project… I actually have a working Quadcopter!
Following all the amazing guidance, I got it built from parts, and my Compassmot down from 320% to 3% - hopefully avoiding another crash… lol!
Anyway, I have just installed Mission planner 1.2.97 and firmware V3.1.2, which I gather are the latest. The only oddity is that I now have ‘OF_loiter mode’ …I can see no mention of this anywhere… any ideas??