About midday. I just test my arducopter code 2.0.46 update in Loiter mode. It have best. But, Something move circle (CCW) from center about 3-5 m. And I don't all tuning (default PI). Bad weather because It have very cloud and high headwind. GPS, It can signal high to Sat#9,But if good weather it can show signal sat#10-12.

Possible, I should  some tuning PI??? Help me please....... Thank you



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Thank you.

Next plan , I will test auto waypoint. But Loiter mode is some translate. I still in tuning PI loiter. 

And Alt-hold, have you tested ?

In video, I some test ALT HOLD. It's no problem. and stable Altitude used sonar....

Thanks Baloon.

I installed it on my laptop. Seems I need to add some lines in the config about battery voltage monitoring. But still I have not managed to get the compilation / upload working ok.

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