Refuses to switch to Loiter

Hello everyone,

My team and I are working on a quadcopter with the APM flight stack.
We’re using OptFlow and LIDAR. We don’t want (and are not using) GPS.

Stabilize and Alt Hold work great. However, the controller switches to Loiter, but APMPlanner shows that the copter is still in Alt Hold. The quad then drifts in a random direction.

We haven’t been able to figure out how to fix this issue. I apologize for the giant logs, we’re pretty new to this and I didn’t know how to trim the tlog so it only included the last flight. Also cannot fly today to get a fresh log. Thanks!

Was able to get new logs. Same results.

2017-06-29 18-59-36.tlog (1.0 MB)

If i remember well, copter checks for GPS low hdop and other parameters before setting loiter… So with no gps it won’t activate it.

(hope i’m not saying something completely wrong)

Yep @ncx94 is correct. Loiter is a GPS dependent mode, without it, the copter will never go into loiter. Probably best to configure parameters for no GPS. You may find this guide helpful.