Hello Team,
I would like to highlight an issue observed during flight testing of my hexacopter running ArduPilot Copter firmware version 4.4.4.
While flying the drone with a Here3 Plus GPS and a CAN based JIYI terrain sensor, I noticed that whenever pitch input is applied, the aircraft tends to dip in altitude. This behavior is observed even when the terrain sensor is enabled and actively providing data.
To mitigate this, I experimented with changing the EK3 source to GPS, after which the altitude holding improved. However, I understand that relying solely on GPS for vertical position may not be a recommended long term practice, especially for low altitude operations.
In this scenario, I would like your guidance on the following points:
Should the ATC_THR_MIX_MAN parameter be adjusted to improve thrust compensation during pitch input?
Would it be more appropriate to perform quick tuning or manual tuning to address this altitude dip behavior?
Are there any recommended parameter adjustments specifically when using a CAN based terrain sensor such as the JIYI unit?
ALT_DROP