I did it! I've got a perfect rock solid loiter even in 13mph gust winds! My 2200 lipo apparently only gets me 3 minute stable flights. Sure the motors will spin and I can fly for the next 2 minutes, but yaw, pitch and roll would drift. The first 3 minutes are perfect! I ordered a larger 6000ma Lipo pack.

I'm thinking if it's a calm wind I'll get @ 15 minutes, If it's windy I'll get @ 10 minutes.

Here's the parameters I used:

ACRO_P,4.5

AHRS_YAW_P,0.2

ALT_HOLD_RTL,0

AMP_PER_VOLT,27.32

APPROACH_ALT,0

AUTO_LAND,20000

AUTO_SLEW,30

AXIS_ENABLE,0

AXIS_P,0.02

BATT_CAPACITY,2200

BATT_MONITOR,0

CAM_P_DZ,0

CAM_P_G,1

CAM_P_MAX,1900

CAM_P_MIN,1100

CAM_P_REV,1

CAM_P_TRIM,1500

CAM_R_DZ,0

CAM_R_G,1

CAM_R_MAX,1900

CAM_R_MIN,1100

CAM_R_REV,1

CAM_R_TRIM,1500

CH7_OPT,7

COMPASS_AUTODEC,0

COMPASS_DEC,-0.252

COMPASS_LEARN,1

COMPASS_OFS_X,-126.633

COMPASS_OFS_Y,37.978

COMPASS_OFS_Z,-193.855

COMPASS_USE,1

ESC,0

FLOW_ENABLE,0

FLTMODE1,0

FLTMODE2,0

FLTMODE3,6

FLTMODE4,9

FLTMODE5,0

FLTMODE6,5

FRAME,1

HLD_LAT_I,0

HLD_LAT_IMAX,3000

HLD_LAT_P,0.47

HLD_LON_I,0

HLD_LON_IMAX,3000

HLD_LON_P,0.47

IMU_PRODUCT_ID,88

INPUT_VOLTS,5

LED_MODE,9

LOG_BITMASK,0

LOG_LASTFILE,0

LOITER_LAT_D,0.4

LOITER_LAT_I,0.08

LOITER_LAT_IMAX,3000

LOITER_LAT_P,2.5

LOITER_LON_D,0.4

LOITER_LON_I,0.08

LOITER_LON_IMAX,3000

LOITER_LON_P,2.5

LOW_VOLT,9.6

MAG_ENABLE,1

MOT_TB_RATIO,1

NAV_LAT_D,0

NAV_LAT_I,0.2

NAV_LAT_IMAX,3000

NAV_LAT_P,3

NAV_LON_D,0

NAV_LON_I,0.2

NAV_LON_IMAX,3000

NAV_LON_P,3

OF_PIT_D,0.12

OF_PIT_I,3.2

OF_PIT_IMAX,400

OF_PIT_P,2.5

OF_RLL_D,0.12

OF_RLL_I,3.2

OF_RLL_IMAX,400

OF_RLL_P,2.5

RATE_PIT_D,0.004

RATE_PIT_I,0

RATE_PIT_IMAX,500

RATE_PIT_P,0.09

RATE_RLL_D,0.004

RATE_RLL_I,0

RATE_RLL_IMAX,500

RATE_RLL_P,0.09

RATE_YAW_D,0

RATE_YAW_I,0

RATE_YAW_IMAX,5000

RATE_YAW_P,0.15

RC_SPEED,490

RC1_DZ,30

RC1_MAX,1973

RC1_MIN,1173

RC1_REV,-1

RC1_TRIM,1578

RC2_DZ,30

RC2_MAX,1973

RC2_MIN,1171

RC2_REV,-1

RC2_TRIM,1574

RC3_DZ,30

RC3_MAX,2015

RC3_MIN,1114

RC3_REV,1

RC3_TRIM,1362

RC4_DZ,40

RC4_MAX,1848

RC4_MIN,1048

RC4_REV,1

RC4_TRIM,1450

RC5_DZ,0

RC5_MAX,1914

RC5_MIN,1109

RC5_REV,1

RC5_TRIM,1114

RC6_DZ,0

RC6_MAX,1913

RC6_MIN,1109

RC6_REV,1

RC6_TRIM,1113

RC7_DZ,0

RC7_MAX,1500

RC7_MIN,1499

RC7_REV,1

RC7_TRIM,1500

RC8_DZ,0

RC8_MAX,1500

RC8_MIN,1499

RC8_REV,1

RC8_TRIM,1500

RETRO_LOITER,0

RTL_LAND,1

SERIAL3_BAUD,57

SIMPLE,1

SONAR_ENABLE,1

SONAR_TYPE,1

SR0_EXT_STAT,0

SR0_EXTRA1,0

SR0_EXTRA2,0

SR0_EXTRA3,0

SR0_PARAMS,50

SR0_POSITION,0

SR0_RAW_CTRL,0

SR0_RAW_SENS,0

SR0_RC_CHAN,0

SR3_EXT_STAT,0

SR3_EXTRA1,0

SR3_EXTRA2,0

SR3_EXTRA3,0

SR3_PARAMS,0

SR3_POSITION,0

SR3_RAW_CTRL,0

SR3_RAW_SENS,0

SR3_RC_CHAN,0

STAB_D,0

STAB_D_S,0.5

STB_PIT_I,0.1

STB_PIT_IMAX,4000

STB_PIT_P,4.5

STB_RLL_I,0.1

STB_RLL_IMAX,4000

STB_RLL_P,4.5

STB_YAW_I,0.01

STB_YAW_IMAX,800

STB_YAW_P,7

SUPER_SIMPLE,0

SYSID_MYGCS,255

SYSID_SW_MREV,118

SYSID_SW_TYPE,10

SYSID_THISMAV,1

THR_ALT_I,0.007

THR_ALT_IMAX,300

THR_ALT_P,0.5

THR_FAILSAFE,0

THR_FS_ACTION,2

THR_FS_VALUE,975

THR_MAX,1000

THR_MIN,0

THR_RATE_D,0.02

THR_RATE_I,0

THR_RATE_IMAX,300

THR_RATE_P,0.2

TRIM_THROTTLE,411

TUNE,0

TUNE_HIGH,0

TUNE_LOW,0

VOLT_DIVIDER,3.56

WP_INDEX,0

WP_LOITER_RAD,10

WP_MODE,0

WP_MUST_INDEX,0

WP_RADIUS,100

WP_SPEED_MAX,600

WP_TOTAL,1

XTRK_GAIN_SC,1

## Replies

Sorry, I am a newbie. Do we need to upload these parameters from PC to transmitter ? My Tx is Turnigy 9x, how ?

Thanks.

i'll be trying these values,

im new with quads and I can't get mine to fly stable.

i also have the same frame, can you post some pics of your quad?

or better yet some video. hope others will post their configuration and

parameters as well, this will help those who have similar setup to have

something to start with...cheers!

Thanks for posting this Jerry,

Brand new to the site and I just ordered the same exact parts for my first build. Really appreciate you providing a starting point that worked for you.

Dave

How heavy is your quad? Thanks for the parms. Very helpful. Watch parm did you find gave you the best return for a good loiter. My 2kg quad swings about 3 meters in a 10km wind. No gusts.

Well done for sharing that Jerry

Mine is a 650 frame but I'm sure this will be useful to many folks and there's just not enough people posting helpfull stuff/responses here