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Q1: Why does the target height change when the vibration gets larger,
Q2: How much vibration value is considered normal?
the accelerometer is used for holding altitude along with the barometer. when the vibrations get too high you saturate the accelerometer and its unable to determine the if its accelerating or not.
I believe the maximum limit is around 60m/s/s but it should be well under that number for stable performance.
check the VIBE clipping value to see how much its being saturated.
https://ardupilot.org/copter/docs/common-measuring-vibration.html
https://ardupilot.org/copter/docs/common-vibration-damping.html
the same view，Less vibration will improve
thank you for your help. i will try it .
And update to ArduCopter 4.2.1 or post in the right category in the future.
thank you for your remind. i still have the confuse about Why does the target height will change? Despite the incorrect height, why does the target height change