Loiter Issue- No Altitude hold off GPS or Sonar

What steps will reproduce the problem?
1. In Stable Mode establish hover at 5-6m altitude
2. Switch to Loiter under constant throttle
3. Observe vehicle unable to maintain altitude or position

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

For a given altitude starting point expect in Loiter mode the arducopter to 
remain on GPS position within expected program tolerance.  Vehicle descends to 
the ground.  Switching to stable mode and applying increase throttle needed to 
recover.

Note: Setting Loiter of switch position 3 Observed value does not seem to match 
stated setting for Loiter of (13) Unless Usage popup is wrong.  Currently pop 
up for Mode select in Mission planner 1.0.75 shows 5 as fly by wire?

What version of the product are you using? On what operating system?
2.0.45 on APM FW 108.  USing MP 1.0.75 on Window 7 to program and manage 
configuration settings.

Note: Using the Ublox GPS

Please provide any additional information below.

Original issue reported on code.google.com by captain...@gmail.com on 25 Sep 2011 at 11:55

Attachments:

[2011-09-25 09-13 1.log](https://storage.googleapis.com/google-code-attachments/ardupilot-mega/issue-422/comment-0/2011-09-25 09-13 1.log)
2.0.45_params_25sep11.param

jaspreeth / ardupilot-mega

Loiter Issue- No Altitude hold off GPS or Sonar #422