This is latest Arducopter firmware, with magnetic declination entered. properly leveled. 3DR frame, the rest are pretty much default settings. Beside being a little nervous, it flies fine.
APM mounted on vibration damping mounts. , Good GPS fix.
Loiter end often up flying bigger and bigger circles, at high speed. It *cannot* hold position reliably for anything more than a minute or so.
Is there some calibration or other stuff I am missing ?
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found the main cause to my problems: vibrations.
removed rubber dampers and installed the APM using 2 layers of velcro - problem almost solved.
please help ? - anything obvious I could be missing here ?