I am running 3.5.4 on PH2.1 with Here GPS. The 5kg x8 flies as expected in AltHold and Stab. Autotune ran as expected but gains were tuned down to reduce oscillations.
The problem begins when I switch to Loiter. The aircraft is unable to maintain position and “twitches” in order to maintain position. When I push on the sticks to track a horizontal speed, the copter heads in the right direction but twitches back to near 0 attitude at approximately once every two seconds, before proceeding to the desired vel. Running out of options and any help will be greatly appreciated.
I have checked
- Vib under control
- Compass calibrated (#3 was disabled due to high offsets)
- Declination ok
- Tuning satisfactory
- Compass points in the right direction
Thank you for your help