im trying to help a couple of friends with TBS discovery quads on V3.1.5.
both of them fly pretty well in stabilize, and went through auto tune.
despite two very different setups (one 600KV 13" and one 900KV 10") both of them exhibit similar behaviour in LOITER - and that is a slow wobble on the arm axis (45 degree axis) - so loiter seems unstable and almost useless for AP for now.
Can you guys share if you found a similar problem? and how did you setup yours?