I am trying to tune my quad with arducopter 3.0.1 firmware for loiter mode. My copter sometime twitches when I switch to loiter mode and in guided mode. Also copter loose altitude significantly when in loiter mode after some time.
I want to understand what is the significance of 'Loiter PID' and 'Rate Loiter' parameters which are displayed at APM:copter PID tab in MP. I tried to find the meaning of these parameters on Arducopter Manual website but parameters given there seem to be outdated. I even looked at the comments in code on github to find significance of these parameters but did not find anything.
Any help on tuning with these parameters will be appreciated.