Hi,
I have an Y6 that flies very well (knocks on wood), I think I solved most of my problems with previous designs and it flies really straight and there's not much of mag interference etc.
But Loiter just doesn't work for me. It look like it works for the first couple of seconds, then it starts overshooting wildly and if I let it it just flies away (I mean really full forward/backward/somewhere, at an insane speed).
Is there some good howto on Loiter tuning? I tried "guessing" and it made no difference to this behaviour.
I also tried tuning Loiter IMAX down, thinking it will at least slow down - no, it will not. So something's probably not right there...
I'm running 2.5.3, my GPS is FMP04 with 5Hz firmware setting - confirmed working...
Thanks
Replies
You need to tune down the Loiter_rate_P values. It's maybe 3 by default? Try lowering it to 2.
Loiter_rate_P translates desired speed to pitch/roll. If you have a lot of thrust available, you may get too much sideways movement for a certain amount of pitch. turning this down lowers that pitch to speed ratio.
Jason