Currently I tune my second quad a QAV540 with the APM.
First did tune the roll rate all with channel 6 directly in the air works really great. Then rate D and rate I as well.
It flies really well in stable mode or in acro mode with some expo. The Altitude Hold mode does also work quite nice.
However I don’t get Loiter mode to work. Even when I use the stock settings. As soon as I switch to loiter mode it fast bounces to the left or right and then starts fly away….
Can someone help me or did experience the same thing?