Making copter behaviour more locked in... slow response when center sticks

ArduCopter
1

I have a fairly well tuned copter ( 4 inch 3000kv) . I played around with LOIT_ parameters and in loiter mode the copter behaves more agressive LOIT_ACC_MAX , LOIT_ANG_MAX and LOIT_BRK_ACCEL are high.

But when I let the sticks go ( self centering mode) the copter reacts rather slow to stay in position and hover.

How can I make copter be more locked in when centering sticks. (LOIT_BRK_ACCEL is 250 (max))

thx

2

You can go over the limits. And you should tune jerk as well.

3

Hope this post can give you insight of your loiter tune.