I would like help debugging a problem that has recently developed in my ardupilot.
I am running 2.3.1 on an easystar, with FMA IR sensors. EM406 GPS.
It had not existed before a minor crash, and the additon of xbee telemetry.
As far as I can see all other behaviour is ok.

I have run the IR sensor test program; the readings are all in the correct ball-park, and are stable;
ie x=525 +/- 1 y=475 +/- 5, z=510 +/- 3

However, I noticed then when connected to the ardustation with xbee, when the "attitude" display (top right hand corner) showed the instruments at full bank - the numbers were 60 in lhs, -60 on rhs.

The elevator is set hard in the maximum up position. Rudder neutral.
Running the serial port, monitoring the variables RLL & RCH, these were
RLL:60 RCH:-60
I tried putting my hand close to the XY sensors to see if this would affect the readings.
Putting hand in front, and to the right of the plane (if looking forward), had no affect.
Putting hand behind the sensor made the elevator move to neutral position, and varibles:
RLL:60 RCH:+60
Putting the hand to left of XY sensor moved the rudder to turn the plane to the right, and variables
RLL:-60 RCH:-60

I am using the .h values as sent by fefenin (sp?): The differences to the standard easystar.h from the code repository were:
//HEADING GAINS
//4-6 diff was 0.1
#define head_I .3 //heading error integrator. Do not add too much or you will overshoot.
//4-8 diff was 35
#define head_error_max 45 //35 The maximum output in degrees to control the roll setpoint
//4-9 diff was -35
#define head_error_min -45 //-35 The min output in degrees to control the roll setpoint

//ROLL GAINS

//5-11 diff was .35
#define roll_P .50 //roll PID proportional
//5-13 diff was -25
#define roll_min -45 //PID output limit in servo degrees
//5-14 diff was 25
#define roll_max 45 //PID output limit in servo degrees
//5-15 diff was 10
#define roll_Integrator_max 15 //Limit the integrator, to avoid overshoots
//5-16 diff was -10
#define roll_Integrator_min -15

//PITCH GAINS
//3-17 diff was .65
#define pitch_P .80 //Pitch Proportional
//6-18 diff was .35
#define pitch_I .6 //Pitch integrator
//6-21 diff was 10
#define pitch_Integrator_max 15 //Pitch integrator limits
//6-22 diff was -10
#define pitch_Integrator_min -15
//6-23 diff was .30
#define PITCH_COMP .60 //<------Very important, Pitch compensation vs. Roll bank angle.

//8-4 diff was 0
#define ALTITUDE_ERROR_PITCH_MAX 8 //Limits, EasyStar climb by itself, you don't need to up the elevator (you may stall)...