Do the accelerometer readings determine the position after the initial GPS read or does the copter rely solely on GPS readings for the loiter and auto modes?
Also, I am in the process of fine-tuning loiter mode, and it still makes wide circles about 5-10m around the point that it was initially switched into loiter. It has gotten better by lowering the Loiter Angular Rate P, but it still continues to oscillate. Are there any parameters that we can change to continue to improve the loiter accuracy.
The single most effective thing you can do is upgrade your GPS to the new 3DR uBlox 6. It makes a remarkable difference in loiter and waypoint accuracy.
So the accelerometers do not contribute to the copter's position readings in loiter?
How accurate is the 3DR uBlox 6 GPS?