Corrado,
Txs for testing. We haven’t updated the Loiter wiki docs yet but I’ve added a to-do item so we don’t forget to.
I would suggest tuning loiter by recording the lean angle at the maximum speed you want loiter to travel.
Set LOIT_ANG_MAX and LOIT_SPEED to those two values.
Then set LOIT_BRK_ACCEL to define how much extra breaking you want to see when you let go of the sticks.
And the LOIT_BRK_DELAY to define how long after you let the sticks go the extra breaking kicks in. This is there so you can fly around slowly without the aircraft constantly trying to break.
If you find that the breaking increases too rapidly when it kicks in (after LOIT_BRK_DELAY) then you can reduce the LOIT_BRK_JERK.
You can also increase or decrease the maximum correction acceleration that the aircraft will use as it removes position errors using LOIT_ACC_MAX. Lower values will make these corrections more subtle but also less aggressive.
I hope this helps.
4 Likes
It helps A LOT, thank you, will play with those, thanks again.
Corrado