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You guys have absolutely excelled this time.

I was struggling with v2.6, Xaircraft 650 value quad,APM1,Mediatek GPS.

Could not get loiter or RTL to function correctly after cranking the PIDs all directions.

Changed my GPS to the new Ublox (thanks Martin) and loaded v2.7 not expecting much difference.

I had to keep pinching myself,thought I was dreaming, but it flew like a Kestrel on steroids.

Loiter and RTL no problem, without altering any PID settings whatsoever.

Thanks to all who those who dedicated their time and efforts to achieve this advance.

Well deserving of Platinum medals and laurels to all concerned.

Thanks,  Mike P.