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.
Update: I now reduced the loiter P value to 2.500 which improved the stability loads. But now the copter drifts more than before so I guess I will need ot work on the I rate too.
Found this if of use: Arducopter Tuning Guide (http://www.youtube.com/watch?v=aq1jXHMiJgg#)
Just need a hollow cube & a couple of (very) tough elastic bands :o