I’m running almost the latest master on an IRIS+. When I attempt to take off in loiter mode, the copter flips over. When I run the latest stable (3.3), it takes off in loiter without any problems. In both versions of the firmware, it flies without problems in stabilize. This video shows what happened:
I practice what I’ve read on several forums, NOT to take off in any mode, except stabilize. Using loiter/GPS hold, will almost always cause a problem if you do not have a good lock to begin with.
Thanks for the reports and helping each other out.
Just for the record, I take off in AltHold and Loiter all the time. There was a bug in the Copter-3.4-dev (i.e. non released version) but I think it’s fixed now in the beta that’s just gone out today.