Feature Request; modify desired Loiter position with pitch/roll stick

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When in Loiter mode, moving roll/pitch seems to "fight" the AP, resulting in a 
strange behaviour.

Please make roll/pitch input temporarily disconnect loiter (keep altitude hold) 
and re-enter loiter when roll/pitch released, using the current coordinates as 
desired position.

OR:
Make roll/pitch input modify the desired loiter position, and let AP do the job.

Original issue reported on code.google.com by andre.kj...@gmail.com on 15 Jan 2012 at 9:56

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My last option is the best (after the "OR")
Reason: when disabling AP in strong wind, the aircraft gets carried away 
instantly, if pilot wishes to only "move it to right" with strong headwind - 
then he needs to fight the wind (pitch) and apply roll to get to the new 
position.

If AP remain engaged, a roll stick movement would change the desired position, 
and AP would go stright to it, still retaining the attitude needed to fight the 
headwind.

Original comment by andre.kj...@gmail.com on 15 Jan 2012 at 10:23

[GoogleCodeExporter]

This should be fixed in the latest code. While in loiter, the user can take 
control. This puts the copter in a special NO_NAV_MODE. It used to be basically 
0,0 for pitch and roll. Now it takes the Iterms from the AP and applies them to 
pitch and roll so the wind is compensated while in this mode.

Original comment by jasonshort on 15 Jan 2012 at 11:05

• Changed state: Fixed

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Hi, by "latest code", do you mean 2.2 b2 ? (that's the one I flew when getting 
the idea)  - it did behave strangely (+ wobbling) when manual input was applied 
while in loiter mode.

Original comment by andre.kj...@gmail.com on 15 Jan 2012 at 11:14

[GoogleCodeExporter]

Hi.
Can you please review the status ?
2.2 b2 ,when moving stick (for example roll) while the hexa is holding gps 
position in a (for example) headwind,   makes it instantly get carried away by 
wind.

I suspect this is still an issue, an significant one in wind.

Original comment by andre.kj...@gmail.com on 20 Jan 2012 at 7:28

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This is fixed in the latest build that I'll upload as soon as I can.

Original comment by jasonshort on 20 Jan 2012 at 5:31

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fantastic, great - looking forward to test. Thank you very much.
- BTW; can you reveal what version number that will be?

Original comment by andre.kj...@gmail.com on 20 Jan 2012 at 5:34

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It will be B3.
Thanks!

Original comment by jasonshort on 20 Jan 2012 at 5:40