ALT HOLD - Quad feels like flying on the end of a spring

ArduCopter Copter 4.3
11

I agree with Manav
The best way is to limit the motor current and use the standard values for the other params
BUT you need the current measurement working properly first.

MOT_SPIN_MAX,0.95
MOT_THST_EXPO,0.6

and the hover thrust will need time to relearn after these changes, then re-assess

PSC_ACCZ_I
PSC_ACCZ_P