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Ok, many have followed my tribulations with 3.0.x and its compassmot requirement. My previously smooth flying quad had suddenly become almost unflyable. You can see my efforts to get a sensible compassmot reading in my previous post, but that was in vain - I still had toilet bowl issues, and all the auto modes were off limits.

So here is a summary of all the things I did once I got my external compass. Most will notice that it's the elevation/seperation that's had the most effect, but crucially, none of these involved airframe alteration. The only downside is my compass and GPS are no longer protected by the dome, and are very exposed if this flips....

Ok, the list.

1. Changed all my bolts to have the head at the top.

2. Moved all my components to put as much space between them as possible

3. Twisted my ESC power cables, and resoldered onto a new PDB.

4. External pylons were used for camera, GPS/compass, Video TX and ezOSD. quadframe.com frames only.

5. Some electronic components were moved underneath. eg light controller, ez Current sensor, BEC, 3DR PM.

6. *** I USED A DJI GPS ELEVATOR. I have selected the lowest pole which is about 7cm in height. I was going to test the others (12cm and 16cm respectively), but at 4%, I suspect my gains will be minimal! ***
(http://www.goodluckbuy.com/bracket-holder-set-for-dji-wkm-gps-autopilot-system.html)

7. *** I removed the foam padding on the legs! This prevented z-axis movement throwing off the results ***

8. The alexmos and RCtimer gimbal are now powered off the 3S circuit used for the APM/rx/gps, rather than it's own

9. Some risers replaced with nylon ones.

It should be noted that this was Throttle only; I'm on 6S for the main flight components, so no 3DR PM current sensing :(

Can't wait to go fly now...it's been so long! But it's raining!