Which pids are used in loiter mode?

ArduCopter Copter 3.1
1

Hi,

my quad is flyining pretty well in stableize mode , and when I switch to loiter,
the motors are controlled with a too high pid value cause you hear the changing of propspeed .
now my question is , which parameter is used in loiter mode , and can I calculate it from the values I use in Stableize mode ??
thanks ,

claus

2

Do you have the same issue in althold? If so, halve THR_ACCEL_P and THR_ACCEL_I.

3

hey, thanks …yep in althold mode its the same …will try it out and give feedback !!