I have been pulling my hair out over this one! My S500 quad was built as an lightweight Hero 4 mule with Pixhawk clone, 433 mhz telemetry and a 3 axis gimbal.
I have built many quads and that hard fought knowledge has resulted in a nice compact AP p
I have set my quad up and it flies great in stabilize mode and alt-hold works well.
However, I have been unable to maintain loiter in nil wind conditions. Approx 1-2 seconds after selecting loiter (from approx 10m agl) the quad will begin to track an