HiI have a quadcopter with a diy frame.I am flying in X-Mode using the Ardupirates software v1.1, Jan 24, 2011.I have GPS and magnetometer installed,the magnetometer is calibrated and I have entered the declination for my location.GPS is getting a signal and allows me to lock - I confirmed that it works correctly by entering the position found into google maps.The quadcopter flies perfect in stable mode.The artificial horizon in the configurator is stable and shows the correct heading (I checked with a conventional compass next to the quad).I observe the following:- if I activate GPS position hold the quadcopter starts to fly in a wide circle around the point, at which I activated the function.I did wait quite a while for the GPS to find satellites, before I took off for the flight.What can I do achieve a stable position hold?Did I miss something?Do I have to work on my position hold PID values? (if yes, what should I try?)Thanks for your helpFelix
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