I am having som issues with Loiter that I want to find out about. Sometimes Loiter is almost perfect on the spot, maybe drifting 1 meter or so, but I have had situations where in Loiter the copter starts circling pretty fast in a quite large circle with diameter of perhaps 10 meters or so, going round and round never settling down. If i then try to stabilize it and start up Loiter again it starts up with this circling. What could cause this?
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What Arducopter version? 2.9.1b? others?
How is your Compass Learning param?
For 2.9.1b try to have compass learning disabled.
let us know if works.