"The latest Rover code supports this. I'm still using 3.0 because it suits me just fine. Latest code I believe you set a Loiter radius around a waypoint and if the "vehicle" leaves this radius it will go back to the Waypoint. So there may be a Way…"
"Tlog will be on your computer if you have flown while linked to Mission Planner via Telemetry. You can then graph your acc x,y,z vibrations.
INAV_Z will be in the full parameter list on Mission Planner.
Honestly don't remember if 3.2.1 is OK with a…"
" Also a number of autonomous test flights can be watched on youtube. SWF Drones is the channel name. Did a ROI that worked out very well as a test. 3.2.1 works very well once everything is set up properly."
"I have not tried simple mode. I fly a 600 size Heli on 3.2.1. Low head speed, spin blades, and a bit of weight with the various payloads. You need to check your vibrations on the z axis to make sure they are not to high. A log with mission plann…"
"I run mine at .3 . Try it with more altitude and be ready to switch back to stabilize and hit the collective. It could also be some other parameters or a vibration issue. Post a log and parameters and I'll have a look. Ardupilot.org may be a bet…"