When 'breaking' to zero mph in loiter the copter does a final 'twitch'

ArduCopter Copter 4.0
1

I think this behaviour is normal ie when you slowly release the sticks to bring the copter to zero speed in loiter, just as it gets to holding position, the copter does a final extra bit of banking to halt the aircraft. Is there anyway to stop this so that bringing the aircraft to a halt looks super smooth?

2

What Loiter parameters have you got?
Try these:
LOIT_ACC_MAX,600
LOIT_BRK_ACCEL,300
LOIT_BRK_DELAY,0.3
LOIT_BRK_JERK,300

2 Likes
3

I agree I reported this issue last week it’s not just a mild hiccup that i was experiencing not the normal.

4

Had a chance to mess around a bit today with a tune and basically removed this issue by setting the Loit_Brk_Accel to 75. Smooth as silk now.