Unstable in loiter mode when take off!

ArduCopter Copter 4.4
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1

Hi,

I’ve already built the quadcopter drone using Cube Plus and here 3 + run the Arducopter v4.4.4 firmware
The drone looks fine when I take off in stabilize mode and after that, I switch to loiter mode,
drone is very stable.

But to easy for the newbie drone pilot to take off, I want to take off at loiter mode to make the stable for my drone.

So I switch to loiter mode to take off and my copter may be unstable and can flip. ( GPS is 3D lock).
Now, I need advice to fix the copter can take off in loiter mode.

Here are my logs: copter logs file – Google Drive

Thank!

2

Follow every step on: How to methodically tune (almost) any multicopter using ArduCopter 4.4.x

It will fix your poor PIDs.

3

Answered over on Cube Pilot.
Some tuning, some change of procedure, move away from a building with lots of solar panels…

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