need help. my copter oscillate quickly roll and pitch in loiter mode. if windy the copter feels very inaccurate in loiter mode. it feel that everything i input from my transceiver has a long latency. in windy environment it is more easy to fly in stabilised mode than in loiter mode. i think i have to tune loiter settings. but i am a little bit confused which settings have the right effect. i will tune this in flight with ch6 options. but for loiter i found no cool description. i need no video tutorial. i have watch them all. i need a clear explanation which controller exactly what regulates. informations at copter.ardupilot.com/wiki/tuning/ do not exactly explain what is the difference between for example LOITER_KP or LOITER_RATE_KP.and so on. maybe someone can give me clarification for the following settings.