I have been using stabilize, wanted to try position hold to see if it will at least stay in my back yard and it wont, it drifts off almost hitting fences and plants.

I know the GPS works well because I fly it waypoints a lot and it works well.

Any reason it wont hold position?

GPS both lights blue.

I can see it moving on its own trying to stay in position, but it wont.


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You should be able to do that in loiter. If you lower the throttle you will loose altitude and if you raise it you will gain altitude.


The perfect loiter mode would for me be that the copter stays in position and altitude when sticks are in center and when a stick is out of the center position the speed of the movement should be a linear function of the stick position. Maybe that will be to difficult so an alternative could be that pitch / roll angle will be a linear function of stick position (like I think stabilize works today)

Regarding confusion of modes:

Today (Mission Planner 1.2.28) we can select the following modes

1: Acro

2: Alt Hold

3: Auto

4: Circle

5: Guided

6: Land

7: Loiter


9: Pos Hold

10: RTL

11: Stabilize

12: Toy

Most of the modes are described here AC2_ModeSwitch, but what is Land, OF_LOITER and Toy mode? Have an idea of the intention of Land is, but does it work?



Randy, thanks for the suggestion, but unfortunately it still drifted away.  I tried the Alt Hold and it even had trouble.  From what I read the direction of the GPS does not matter?  I was also thinking about putting my GPS on a pedestal like my N... product is to see if that may help?

Randy, maybe this helps:

 I took off in stabilize mode, it flew pretty good with some drift.

Change to position hold

over about a minute the craft started to "pull" to the left, it was almost like a rubber band, I move it to the right where I wanted it and it "slow" rubber bands back to the left to where I guess it "thinks" it is.

Then I change back to stabilize mode.

the rubber band is gone again with normal gyro drift.

Does that point to anything?

Thanks again for your help


This is a video that shows whats happening, really its not holding at all :(

When I brought it back when I let go of the stick it kept coming at us :O


of loiter uses optical flow.


normal loiter can be used to climb and decent, just at predetermined rates, outside the central throttle deadband, compared to pos-hold where you have full manual throttle control.


I suppose position hold could be useful if you want to climb and fall quickly, or at different rates, but I too am happy with the loiter methos.


I might give pos-hold a try later, and kill the throttle momentarily. That should be interesting :) (BUT not recommended!)

Hi Benny,

I can tell you that Land works just fine. I've tested it with my Y6 on numerous occasions and it works like a charm. I had my Y6 decending from around 50m and flipped into land mode. The copter decended at a fair pace up till about 2.5-3m from the ground and then decended slowly until it touched down. It becomes a little bouncy then so I would suggest killing the throttle and turning land off(back to stabilize). Your multi will just sit down without issues. The new 2.9 rx apparently sorted the bounce on land. Can wait for the release.


I ended up on this thread researching why my setup was drifting in Position Hold mode. I am using QGroundControl Station (QGCS) not Mission Planner and I had done all the sensor setups etc... all greeen on sensors and config... first flight and it flew well and had good GPS lock and HDOP and Posision Hold would drift slowly back and left... hmmm... Went back in and hooked it up to QGCS and did all sorts of checks to see what I could see wrong. Compass calibration had gone well. Maybe I had my orientation incorrect for the external compass in the GPS module above. I thought maybe it was roll_180 so I set it to that and recalibrated the compasses and went for a fly... HUGE toilet bowl then... roll 180 is not right. Put it back and did more investigation. Looking at the orientation QGCS said it was in compared to what the map image was saying vs what it was actually oriented and I noticed things were off a few degrees... so the compass was close... 

Then it dawned on me... declination... where I was there is about 11 degrees declination... so thats when I noticed how declination is done in QGCS vs Mission Planner. In QGCS it is left at auto and gets it from a lookup based on the GPS location. What I missed was that the auto declination value is stored on disarm... I had never flown AFTER a disarm.... I had been changing things and restoring things and then doing one test flight and things were not right so I was going back and resetting and trying something different.... the answer was fly, land, disarm, fly again and see how it behaves...

Yup... Position Hold was rock solid now. All I needed to do was let it get GPS for declination and DISARM to store the value... then it was good. 

So make sure you arm, fly, disarm, arm, fly again....



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