I'm relatively new to the world of drones and the 3DR IRIS is my first drone. I can fly it well in stabilize mode, but use loiter mode fairly often when taking aerial video to keep better control. Recently though, loiter mode hasn't been working correctly. When loiter mode is engaged IRIS will sometimes drop a few feet and then hover and when I put the throttle all the way up IRIS climbs altitude fairly slowly (I'm talking about 1m every 15 seconds or so and will reach a "ceiling" at about 30m. The same holds true for descending. It changes altitude very slowly and didn't do this before. If I take it off loiter mode to stabilize I can climb no problem to about 300 ft. Engaging loiter at these heights have also resulted in about 5m drops and sometimes flips.
Any help or suggestions would be great. I'm not sure if it is a software problem or hardware issue. I did have some "rough" landings but nothing my IRIS hasn't been through before. I tried re-installing the firmware and writing the proper params for my configuration just to make sure it was properly configured, but this didn't solve the issue.
Thanks fellow drone lovers!