No worries Randy!
I will try tuning first and then try loiter again, interesting the different tuning needs of the frame types on the same board/setup.
My eventual goal with this is to have a mode like this :- (in Stabilize Mode the BlueROV2 will stabilize roll to level and it will maintain heading when not commanded to turn.) I do have a video of that I will post when i find it.
Obviously without the roll part, I had it working well on the same platform with Ardusub and it makes driving laterally much easier for what I’m trying to achieve. I see Ammarf is working on a mode that does hold heading but it seems that it might operate differently to Ardusub stabilized.
And my overall goal is to be able run an Auto mission and input a do_set_Yaw command or alike to maintain a heading angle and move laterally if needed.
I have to say Rover has progressed along amazingly well in the last 6 months, I’m still new to this and it all changes so fast !!!