On my quadcopter, I get a sharp jerk every time I switch from AUTO mission to LOITER in flight. AUTO itself is smooth and LOITER is stable when entered from other modes, but the AUTO → LOITER transition always causes a noticeable jerk to hold its position, then it hovers normally.
Could this be due to a tuning/parameter issue? Which parameters should I focus on to smooth this handover (e.g. LOIT_* / WPNAV_* / ATC_* limits)? Any log signals you recommend checking around the mode change would also help.
this is the log where the issue is observed,
I am using Pixhawk, Ardupilot v4.6.3, drone weight is 1.9kg.
The quadcopter makes a noticeable jerk right at the mode change, then holds position fine.
Could you please have a look at the log and these settings and suggest what LOIT_BRK (and maybe WPNAV) values I should reduce or adjust for a smoother transition on a 2kg platform, without making LOITER too “soft”?. LOIT_BRK_JERK is set at the lowest (500) according to ardupilot.
