Hello,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…

I am using APM 2.6 on Quadrotor. I had couple of flights with 4 cell lipo batteries. Today when I connected 4 cell battery to battery monitor, it burned off with smoke. I removed battery monitor and tried to arm APM but it did not arm. Now I am…