I’m trying to tune my AltHold PID without succes. I done an autootune for my PID and I’ really satisfied with the result. As you can see in my log DesRoLL and ROll and DesPitch/Pitch are pretty good.
But if you plot CTun.Alt and CTun.DAlt I’m not happy with the curves.
I have lot of noise and when I roll to the right I lose Alt and to the left I gain Alt. So anyone to help me or advice me with the PID tuning for AltHold, I’ve already read this link I’ve played with PID and Alt to climbrate but without any improvements
Another question why the 1:2 ratio should be maintain for P and I term for AltHold PID?
Here is my bin file BIN file