My Quadcopter drift in circle while in Loiter mode

Hi Guys,

i am new to quadcopter. 1st time flying this kind of machine.
today i hover and turn on Loiter mode.
the heli fly in circle. can help me out?

attached is my log.

This is my quadcopter

Appreciate if can let me know what wrong with it :slight_smile:

What you describe is normally compass related

auto analysis shows this

Log File C:/Users/Stuart/AppData/Local/Temp/tmpBC44.tmp.log
Size (kb) 3624.86328125
No of lines 49136
Duration 0:29:35
Vehicletype ArduCopter
Firmware Version V3.2.1
Firmware Hash 36b405fb
Hardware Type
Free Mem 0
Skipped Lines 0

Test: Autotune = UNKNOWN - No ATUN log data
Test: Balance/Twist = GOOD -
Test: Brownout = GOOD -
Test: Compass = FAIL - Large change in mag_field (393.74%)
Max mag field length (737.61) > recommended (550.00)

Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = GOOD -
Test: GPS = GOOD -
Test: IMU Mismatch = GOOD - (Mismatch: 0.36, WARN: 0.75, FAIL: 1.50)
Test: Parameters = GOOD -
Test: PM = FAIL - 21 slow loop lines found, max 15.53% on line 44845
Test: Pitch/Roll = GOOD -
Test: Thrust = GOOD -
Test: VCC = GOOD -

looking at your mag and current plots looks like your compass is being effected by your wiring. How far is the compass from the main wiring? Have you done a compassmot?


Thanks for the response. Does that Means that my external compass is too Near main wire? Actually the main wire is just below The compass.
I Haven’t done compassmot.
But I just elevated my external compass.

yeah moving the compass away should help a lot. Compassmot should too, after you moved it.


What about the test pm fail. What is that?

Lots of people seem to be getting that error, I haven’t seen a solution (there might be one), I don’t think I have seen it cause a problem, but have a search. Pretty certain that isn;t the cause of your loiter issue.

H guys,

after i elevated my external GPS, and did a compassmot.
today my quad hold its loiter position and height perfect.
thanks guys!!! :slight_smile: