That is why you are having the problems it is not a standard H480 you have fooled around with the firmware and have run into the problems that others before you and that is you should not change what does not need to be changed. I am sure that Yuneec have embedded some sort of hardware or firmware into their machines so that they can not be changed easily. With this change to Px4 control firmware, just what are you trying to achieve, ie: way points, planning routes etc. They are all there in this forum with safe hacks using std Yuneec firmware from other models. I think I will give v it a miss as my roof and building Inspection business needs a very stable Machinew which happens to be a STD H480, or next stage up to H+ or H520. Lots of luck for your venture.
Keep flying on the green side of the grass.
Actually.. I am not having problems with it at all. I just wanted to play with you a little with my "stability issues". ;-)
The PX4 is very stable and enjoyable to fly on the TH 480. What I am achieving with the stock PX4 firmware, are exactly those which R G mentioned above: acrobatics, full mission support, versatility, lifespan extension (new features) for the platform .. and I like to tinker with these and have fun doing it! I feel quite safe to say that this hot-rodded Typhoon is the highest performance off-the-shelf prosumer drone there is and there will be... ;-)
This is not for everyone, though. If you are concerned about crashing the drone, experimental firmwares might not be for you. The upgrade process requires you to be somewhat familiar with STM32's. I am going to keep my another Typhoon fully stock too. But if you are more into aerobatics, SW development, fully autonomous missions, photogrammetry/mapping flights etc.. then this is something you might be interested in. After erasing the Yuneec's original firmware and bootloader, there is no going back. But my goal is sort of to get the PX4 port running so that there would be no need to. The Typhoon's MCU, STM32F405RG, comes protected with RDP Level 1 protection which means that the MCU's flash is read-protected. Yuneec wants to protect their IPR (crypto-bootloader with keys I assume, and the firmware to make sure their huge investment in R&D is not stolen and the integrity of firmware is not compromised when upgraded by traditional means). First step in running a custom firmware is unlocking the MCU which erases it, then flash the bootloader via SWD and the actual autopilot FW via either the SWD or USB. I am using PX4's bootloader with little modifications.
The only way to go back to the Yuneec's stock firmware, is getting a stock MCU board, which, however is a easy drop-in replacement and easily available. That's something I am doing with the drone on the video, too; its original MCU board is stored if I'll ever want to go back.
I'm pretty sure, that the TH actually runs some customized variant of PX4 in its stock form, too. Almost all peripherals, including Yuneec's very special motor controllers (tap_esc) and the SR-24 receiver, are all supported by PX4 which made this rather easy, very likely thanks to Yuneec's co-operation with Intel and DroneCode (Intel Aero drone is almost identical to the Typhoon) back when the TH was developed.
There are few things to do before it can be considered suitable for common use. The PWM for driving the CGO3+ needs to be done, AD converter pin mapping and scaling should be done for getting the battery voltage level, SR 24 telemetry to ST 16 needs fixing (should work with the ST24 though) and I thing it would be nice to run the IMU heater using PX4's heater driver. Or through some PID controller instead of keeping it on all the time (and IMU temp at 40-50 degrees C). But well, the winter is coming and the MPU 6050 does not like cold and me neither... And thanks, lots of luck is needed with this one! ;-)