I did make a video of my results, but it got deleted.
Anyway, here is a written report.
1, the newest parameters I could find were these:
These are over 1 year old!
2, those old params do not contain settings for the EK2 algorithm,
So, what I did was disable EK2.
Result: everything worked fine, except for the altitude. No altitude.
3, when I switched on EK2, the altitude worked again, but the compass went out of whack and the copter is unusable.
EK2 is very important because this is the algorithm which is going to be developed further. I believe EKF, which is the old algorithm is no longer going to be developed.
Also, it is advantageous for us to be using the latest versions of ArduCopter as there are settings in there, which the older version do not have.
4, using the older version of ArduCopter (which came on CYAN OS), EK2 can be enabled and everything works fine.
Question: Victor, do you have a direct link to params which are recent AND have appropriate settings for EK2 AND have been proven to work on the ErleCopter, using the latest builds of ArduCopter?
At present, the only stable version of ArduCopter which works well for me is the version which comes on CYAN OS. Anything newer than this does not work.