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Hi,

I've successfully used ch6 in-flight tuning for tuning: Rate_pit_P (rate roll, ch6_rate_KP, Rate_RLL_P) &  Stab_P (stabilize roll, ch6_stabilize_KP, stb_RLL_P).

RTL works ok on calm days; but if there's a lota wind my hex quickly gets above the launch vicinity but then struggles to get directly above the launch coordinates before descending.

What param should I adjust to improve my hex's ability to quickly get directly above launch coordinates so the decent can begin?

Is Loiter angular rate roll (rate loiter, ch6_loiter_rate_P, loiter_lon_P) the best bet?

Thanks,

steve