Suggestion for Althold adjustment with sticks

[pm1]

Hi,
the code for manual adjustment of AltHold resets ErrorAltitudeI. The height is then maintained only by P term, which means, that the initial throttle position has to be set very exact, otherwise the copter drops or climbs significantly (a high P rate is *really* not good if you own a BMP085). I have commented out that line. For me this works much better then...


MultiWii.cpp:
...
AltHold += AltHoldCorr/512;
AltHoldCorr %= 512;
}
// errorAltitudeI = 0;
isAltHoldChanged = 1;
} else if (isAltHoldChanged) {
...

[Alexinparis]

Hi,

ok, I think it makes sense in a mode where alt change is smooth (vario)

[pm1]

Sorry,
I didn't get the point somehow. How is this piece of code related to vario?

[Alexinparis]

Yes, it is.
Before, the default baro code was based on temporary deactivation of pid control when the throttle is changed.
Resetting I term was useful to start a new pid control condition.

Now, the only mode is vario, and there is no need to reset I term as the pid control is always active.