Hi every body

does any body know the effect of loiter P gain in the flight and the way we can set and tune it?

thanks

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POS_XY_P (shown as “Loiter PID P” at the top right of the screen shot above) convert the horizontal position error (i.e difference between the desired position and the actual position) to a desired speed towards the target position. It is generally not required to adjust this.

VEL_XY_P (shown as “Rate Loiter P, I and D”) convert the desired speed towards the target to a desired acceleration. The resulting desired acceleration becomes a lean angle which is then passed to the same angular controller used by Stabilize modeIt is generally not required to adjust this.

http://ardupilot.org/copter/docs/loiter-mode.html#loiter-mode-tuning

it looks that "D" param is removed from params. Or you can see it ?

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