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.