In reference to the loiter flight mode, how do HLD L/L and LOIT L/L PIDs relate in trying to get the quad to maintain a more fixed loiter position?
The loiter PIDs takes a target velocity and estimated velocity and outputs a desired acceleration. The copter tilts to achieve that acceleration.
The HLD P term takes the position error and turns it into a desired rate.
The defaults for these are generally fine. They don’t really vary between frames. If you want a steadier loiter, you need:
- Better GPS. Make sure it isn’t being interfered with (look into the UBX1 and UBX2 messages). Get an M8N. Get a pair of Piksis if you really want something nice.
- Better compass.
- Lower vibrations.