I've also had good experience with both. For me waterfall is perfectly fine if you don't have a hard deadline and agile is great for reducing risk (from what I've experienced).

I know agile and hardware doesn't go too well together and software of course is told by management to be more agile (because some manager heard it's great). The customer expects fixed incremental feature delivery (which they measure your performance on and scale your bonus with) and somehow as a software engineer you have to be agile in step with the waterfall process.

I think in general agile is better for software and waterfall is better for hardware - the problem is somehow they have to go together. It's not the best to say the least - often shipping with errors and bugs.