Discussions

After having tuned my loiter mode's horizontal parameters via LOIT_MINA / LOIT_MAXA / LOIT_JERK to my liking I am finding Loiter mode quite nice now.

Its actually my mode of choice now. Bumping those two up along with the max speed has made a huge difference. The defaults for me were quite conservative.

Now the only complaint remaining is the following, and it applies to Loiter mode:

When I am hovering stable and I punch the vertical ascent / descent stick to max up, there is quite a bit of a lag between when the quad is hovering still and between when it reaches PILOT_VELZ_MAX. Especially the initial 0.5 or so seconds.

Is there a way to increase how quickly the quad will respond to the throttle input in loiter mode?

I am leaning towards "Altitude Hold P" as from my understanding the vertical controller in Loiter mode is from altitude hold.

Thanks!

Note : As this may be related, I might as well mention: Running BLHELI ESCs. When doing ESC tuning and having the throttle input directly passed to the ESCs they seam quite responsive. So I do not think this is a ESC issue.