"My experiences today  with loiter:

V 3.1.5:
- Scott parameters.
- No too windy but variable.
- When no wind it seems stable, keep position quite well.
- When it need to fight against wind it destabilizes quickly.

V3.2 beta RC12:
- Scott…"

"but I think filter fusion improvement depend on AHRS_EKF_USE = 1"

"Geat Scott!!!

right now i was to going to test loiter wiht your params in v 3.1.5, but after reading this... maybe I should try with the 3.2...





you're using the same parameters as 3.1.5? I guess you've enabled EKF, right?"

"I just tested your parameters on my machine (performing first the changes for type X frame) and behaves very well in stabilize and AltHold. It has been a indoor test because here it's night, tomorrow I will try to test it outside with loiter.…"

"I do not know if X type offer advantages, but it was one of the changes I had planned to improve my setup, and if it's working for you...

how stable it is in Loiter with that parameteres?"

"6S.
Another difference is that I am using "plus" frame type instead of X."

"Thank you very much for sharing!!! 
I'll try this parameters and share my experiences and possible modifications.

What U8 are you using (100, 135, 170)? mine are 135."

"In my previous reply I forgot the link to the APM forum thread:

http://ardupilot.com/forum/viewtopic.php?f=80&t=9985"

"Hi, William

Yes, the solution is out there, I hope someone wants to share it.

In this thread I share my PIDs for stabilize, and someone suggested me some parameters values. I'll try it."

"Hi,

I'm tuning a large quad based on U8 motors.  After a hard tuning process i have a really nice solution for stabilize mode, but I can not find a good loiter PIDs. 

My setup:

1100 mm motor to motor. Home made carbon fiber arms frame.
Quad +…"