Possible Bug with in Hex X ... please help

[2.4g Shaun]

Hi
I have just loaded Dev20120504 sw onto my Hex X
I have a Drotek V1 6DOF ( ITG3200 + BMA180) with a seperate Baro on.
This is mounted on a Divide V1 board .
The problem is as follows...
In Standard mode ( no ACC or Baro), the copter flys as expected.
With Gyro and ACC it flies fine EXCEPT when moving rudder stick left to disarm the motors, the revs increase and it takes off again, yawing a little left. They will not cut in this mode....
The only way to cut the motors is to switch out the ACC.... i.e Gyro mode only and the throttles will then cut...

Any ideas on how to resolve this please.
I also had to change the gyro and acc orientations ,in this new version of the sw they were rotated 90 degrees right. Also the Yaw was reversed..
They were fine in the previousV 1.9 software that was loaded on it....

The sensor orientation was also out in exactly the same way in this version for my MPU6050 board....

Shaun

[kos]

what is your receiver ?

can you provided the motor pin number ?

[2.4g Shaun]

Hi,
the Rx is a spektrum 6100.

I don't believe there is any issue with the motor pin output as it has flown perfectly on 1.9 the only thing changed was the latest s/w dev used..


The processor is a pro mini with A0 and A1 activated in the sketch.

Cheers,

Shaun