I am using the latest version of arducopter on my APM 2.5 board with GPS. It all works well enough but when I switch to loiter mode, even in zero wind, the copter stays in position but is very wobbly. Its not oscillating but it most definitely is not sitting as stable as when I have it in stabilize mode.
I guess I need to adjust some PIDS for that but before I go through that I wondered if anybody knows whether that means I need to decrease the P or I values. It seems to be an issue of over correction.
I am using a discovery frame but I am pretty sure that would apply to any other frame too.