I tried both the quad and hexa firmware today in the same location. I set the copter in an open field and did not move it. The GCS (APM Planner) still showed it moving around the field in both cases. However, I was not able to recalibrate the compass - not enough points.
Earlier today, before changing the firmware, we attempted to fly autonomously (in a large open field) with both the APM Planner flight plan, and ros_erle_takeoff_land. All of the flight attempts displayed erratic behavior. We ran ros_erle_takeoff_land twice. The first time, after flying upward, the copter took off heading south. The second time it headed east. Both times the copter got almost 100ft off-course before we took over manually to keep it from flying away. Since we were running programs that just had it rise and then land, I thought that it would stay in the area. Is this still related to the GPS problem?
I noticed a slight difference in the compass direction showing on the GCS, between powering the EB3 with my computer versus with the LiPo battery. I'm wondering if we should try the CompassMot calibration to compensate for interference from the copter?
Also, the /bin/sleep 10 command seems to work - for not having to manually restart the apm.service.