I currently use these parameters:

LOITER_LAT_D,0
LOITER_LAT_I,0.5
LOITER_LAT_IMAX,400
LOITER_LAT_P,1
LOITER_LON_D,0
LOITER_LON_I,0.5
LOITER_LON_IMAX,400
LOITER_LON_P,1

I tried to modify them but with no succes. When I switch to Loiter, my quad goes upwards in the sky. I have the latest firmware. Please give me some advice.

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Does altitude hold work? Loiter uses altitude hold to work.

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