loiter problems since using 4s LiPo's

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What steps will reproduce the problem?
1. activating loiter
2.
3.

What is the expected output? What do you see instead?

the motors pulse instead of remaining steady and altitude becomes 
unpredictable. it has a tendency to climb.

What version of the MegaPirateNG are you using?

2.9r7

Please provide any additional information below.

loiter and RTH both worked perfectly using 3s batteries, after changing to 4s 
the motors pulse and it doesn't hold its position smoothly. it does still hold 
position but the altitude is all over the place. I am not sure whats causing 
this effect. If it is something that needs to be tuned then I am not sure where 
to start.

any help much appriciated.

Original issue reported on code.google.com by ezroller...@gmail.com on 9 Jun 2013 at 12:57

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ESC type? Preflashed with SimonK? is 4S tolerant?

Original comment by DejanMat...@gmail.com on 12 Jun 2013 at 7:40

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im using multistar 30a ESC's flashed with simonK, they are rated 2-4s.

tested out loiter again last night after tuning the accro and stab PID's a 
little and had the gains quite high, it was still pulsing a bit in loiter but 
it held much better and RTH worked. Ill continue to play with the PID's and see 
what happens. 

I haven't played with the loiter parameters as I assume these are only related 
to its position holding and not the altitude hold? 

Original comment by ezroller...@gmail.com on 12 Jun 2013 at 8:00

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I Had the same problem when the copter gets more power. you need to reduce your 
throttle accel and throttle rate. Check and let us know

Original comment by bd...@mastecno.com.uy on 14 Jun 2013 at 2:47