Hello from the French Alps 
Here is a recurring problem Iâve got with my mini apm ( ge250 frame ) :
- Altitude loss wobbles ( happens as descending, sometimes at hover, stops as throttling up, or flying one direction, with two video samples : youtu.be/9GQTfRsQqs0 )
Here are my current Pid settings :
Then the altitude loss âwobblesâ logs :
- Des Pitch ( red ) diff , green is effective :
- Des Roll (green) diff, red is effective ( zoomed here :see the land command does the whole destab as soon as loosing some altitude ) :
Full Log: drive.google.com/file/d/0B9p2ZI ⌠sp=sharing
Baro glitch : while AltHold or Loiter or RTL, the quad sometimes loses 2m/s, when this happens it destabilizes the whole structure, as seen previously, and might sometime lead to a flipover ending with a ground crash âŚ
Wouldnât there be a âmin safe throttleâ parameter, as any motor wouldânt go below this point, as soon âtakeoffâ is completed ( kind of 30% if it hoovers at 40% ) ?
Another idea would be to limit the altitude drop to 2m/sec, so the quadcopter would remain âleveledâ at altitude drop and wouldnât wobble any further.
I usually takeoff above 1800 meters going straight to 160m high to take some mountain panoramic pictures ⌠and do the altitude drop by circling the drone above my position, donât know if it is that clever âŚ
Thanks for any help, notes, clarification on these points