Is it normal to soften LOITER controller by LOIT_ACC_MAX on very sharply tuned copter?

ArduCopter Copter 4.1
1

Autotuning a 3DR Solo gives a very crisp and precise control.
Except Loiter -and Loiter with IR Tracker.
it is too twitchy, it “looks” bad (many too aggressive corrections - little travel, as expected, but big movement)

given that this only goes for loiter - I would change LOIT_ACC_MAX LOIT_BRL_ACCEL - but I have never seen need to do that before, so I wonder if it’s “normal” ?

2

I replied in your other tuning thread - the issue looks more like a position controller problem than just Loiter params.
Usually there’s no need to mess with the Loiter params much, but I found these suit me.

LOIT_ACC_MAX,600
LOIT_BRK_ACCEL,300
LOIT_BRK_DELAY,0.3
LOIT_BRK_JERK,300