Yessir. Pos Hold works beautiful, and yes, this was with your changes.
I did not try Auto or RTL today. I played with it a good portion of the afternoon to sort out the settings in New Loiter to see what happens with various frame angles, speeds, transition and delay. I found out just about anything works, some are smoother than others. I think I found that the best compromise between slow speed and "flying" speeds for a heli is to use
10-12 degrees and 20 m/s
30-50 for MINA - need to keep this fairly low so at higher speeds it doesn't try to use too much frame angle to meet the minimum acceleration when slowing down
350 for MAXA - I found this provides pretty decent acceleration, but not too severe. Uses the full allowable angle, and won't build speed so quickly that if the pilot suddenly releases the stick from full acceleration that it causes a huge upset in braking
1 second for Delay - if you're using it for flying you don't want to let up on the stick and have it enter transition to braking right away if you're not going stop. I tried 2 seconds and that's not quite fast enough for slow speed where you move the heli and then want it to brake and stop. So 1 second seemed here to be a good compromise. It makes it smoother than Old Loiter by being able to let up on the stick for a split second, then lean back into it.
1 second to transition to braking. This simply makes it smoother. And again, it's a compromise between what you want for higher speed flight, vs what you want for slower speed. The higher you set this, the smoother it is. Lower it and it gets more like Old Loiter.
I was aiming for smoothness in all situations, but still provide a suitable setting so if you fly it at higher speed it's not quite as severe as Old Loiter in being "jerky" using the MINA acceleration.
Had no problem at all with position holding and rejection to wind. When the heli comes to a stop it will tend to "hunt around" a bit just like it does with Old Loiter as it "settles in" to it's hold position. The "hunting" amounts to maybe 6" or so. And if you let it hover normal GPS drift will cause it to move a bit, then move back. I am using the postition controller gains set as follows:
VELXY_D 0.25 (I lowered this one)
I did not try Alt Hold, but flew Pos Hold, which is pretty much the same thing. I really like Pos Hold. It is completely natural for flying (other than collective management sucks). From transition from New Loiter to flying, the heli just leans and goes, levels out and cruises, click in a few notches of elevator trim to hold cruise attitude and go flying It is awesome. No artificial braking, no acceleration limits. Transition from forward flight to braking/hover is smooth with the angle set at 8 and 4 degrees/sec on the angle change when it comes to a stop. Transition back to New Loiter is smooth as silk. Did I say this mode is awesome for an augmented mode? It is. The only thing that could make this mode better is if the collective was returned to normal (like Stabilize) when flying, then return to Alt Hold/Loiter when you stop. That would make it totally awesome.
Side Note: Have not used Pos Hold with a heli much because I crashed a heli with it back in 3.4.2. Took off before the runup timer was complete, switched to Pos Hold, instant crash. Glad I tried it today. I like it.
We do not know that yet. I have a theory as to what is exciting it. I intend to test that theory tomorrow. But the root cause remains a mystery yet. It does not seem to affect the FBL heli in any way whatsoever. I was reluctant to try it with the FBL heli because it's much more expensive, heavier, much more powerful, much faster machine. But I'm glad I did because I was able to finally test the firmware.
What I learned is that whatever defaults are used for multi's will work for a heli (I tried a 45 degree angle and 1500 cm/s for the speed). That's not really smooth because the heli will hit the MAXA right away, then hit the speed limit and has to nose up a bit to arrest the acceleration. But it will not crash a heli. Best is to have the angle shallower and speed faster for the most desirable flying characteristics (at least here). It's smoother. The only thing for defaults for heli I think is the position controller gains, which may be different from multirotor. I can make a commit to the PR if you want me to, to have the defaults for heli to what I think they should be. Or you can do it, either way.
So my conclusion is that:
1) New Loiter provides all the same functionality as Old Loiter
2) It can be set as smooth and calm, or as aggressive as you want it
3) The adjustable braking makes it smoother for flying around with it.
4) It is still not the best mode for flying around with with a heli, but it works
5) I did not see any problem with position accuracy
I will try an auto and RTL tomorrow with it.
We will continue to try to identify the problem with the excitation of a flybar, and the auto flight test will tell me if whatever is causing that has any effect on the tuning of a FBL. It certainly didn't in manual flight today and I had the heli up to ~60 mph a couple times in Pos Hold. That mode rocks - no speed limit!