GPS position holding experiment with NG firmware.

My GPS is u-blox one, I set that sensor as pedestrian mode which is proper for hovering state, 4Hz, 38600bps, binary format.I can get the lat,lon,# of sats, fixed or not fixed flag.It works perfectly.I set my position hold PID gain as default (using labview configurator)However, when I turn on the gps holding stick, the control input from GPS position hold controller seems reversed.If quad go to north, it should make roll to south. But, quad make roll angle to north direction. That makes quad diverge.Is the GPS position holding working properly in your case?Can you give me an advice to tunning GPS gain?

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