nhadrian wrote:One thing I have to note is that after I activate the altitude hold, copter slowly climbs 1-1,5 m up and that will be the setpoint. It is independent from the altitude. I couldn't figure out what causes this behaviour, maybe something in the calculations... any idea???
I think to VEL PID works, but there is still something wrong about the Z velocity estimation.
Without moving, there is a constant non null velocity estimation which I think explains "slowly climbs 1-1,5 m up and that will be the setpoint"
Velocity variation are however well estimated that's why the overall function seems to work.
On the last dev, I removed temporarily the VEL PID because of this.
On the version of today (03/02), I tried to introduce a velocity estimator based on the actual position and refreshed every 0.5s
This velocity is used to decreased the overall throttle correction.
This way, it prevents any over amplification and growing oscillation problem. The throttle correction is just lowered when the Z velocity increases.
This can be tuned via ALT D Term.
Could someone tests the last dev ALT HOLD function with default PID ?
It works fine in my living room with MS baro and BMA180 ACC. (1 meter range)