This is essentially my "first" loiter test (I had carried out a loiter test the day before - but it had exactly the same settings so...).

The rig is a jDrones rig with 880kv motors and 12" x 4.5 props.

PIDs are all set at the default values except for the Rate Roll P and Rate Pitch P which was adjusted to 0.09 as suggested in the notes. Using Arducopter v2.7 and flying in + configuration.

There was a relatively stiff breeze which is evident I think in the video.

The drift box was roughly 15m x 10m x 4m.

Please take a look and pass on any suggestions as to how I may be able to tighten this drift box.

Thank you.