Built a SingleCopter and got it to fly well with a Matek F411 controller so I know it is aerodynamically capable.
I wanted to add a real autopilot capability so I replaced the F411 with a Pixracer, GPS/compass and ArduCopter. Set up all as described in the documention, except that I pointed the Pixracer up and used AHRS_ORIENTATION of 90 degrees instead of 270 as stated.
After a few very brief flight tests I almost got it to fly. I had to reduce the Stabilized Yaw and Yaw PID P rate in half to stop the oscillation in yaw.
The next problem is for some reason I have very little right aileron throw. As a consequence the machine eventually rolls to the left more and more until it crashes.
The four flaps seem centered (I tilted them all one way a little bit to compensate for torque created by the prop).
When I move the roll stick on the transmitter to the right, flaps #1 and #3 move about 10% of the total available travel. When I move the roll stick to the left, flaps #1 and #3 move about 90% of the available travel.
Any ideas? Thanks,
Here is the end of a test flight after a graceful arc to the left, with its center dowel poked into the soft ground,ejected battery on the ground: