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Hi

I have a quad other than original ArduCopter kit, so I have to change PIDs manually.

After a lot of hand tests and PID changes, I found out my PID as you can see in screenshot.

For me this PID for Stabilize and Rate Roll etc. stabilize mode works well.

But when I tried to switch to Loiter, it started hovering in around 50 meters with changing altitude, also one time Quad was in about 10-12 meters up, then when I switched to Loiter, it started descending, hit the ground hardly and took off again to air (to 10-12 meter it was) and started Loitering.

Any ideas?

How can I find out Loiter and Auto WP PIDs from PIDs I find for Stabilize? What's difference in Stabilize PID settings and Loiter Speed and Loiter PID and WP PID parts? How I can fill WP and Loiter PIDs from what I learned and found out in Stabilize PID?

(I had a bad crash and broke my quad due to this failure in PID of Loiter)

Thanks

last pid.png