Altitude drops below the value given in the mission

ArduCopter Copter 4.1
1

Dear all,

I have Matek H743-slim, M9N-5883 GPS and I am using 4.1.0 beta v5. I am using H type drone. Drone weight is 1700 gr. I am using Racerstar AirA 2508 1200KV motors (quadcopter) and 6S 5200 mAh battery.
I have some problems. Firstly when I using auto mode, my altitude is not fixed. I try block barometer, using sponge but not work. And I can see altitude is downing but my drone not fix this. What is my problem?

https://drive.google.com/file/d/19GvBTRQEIQfgfhLiWvAMvw1PLNFijATi/view?usp=sharing (log file)

image
image1645×883 30.6 KB
LAST_05_08.param

2

Still looks like baro noise. You used open cell foam right? Also, interesting ACCEL P/R max values from the parameters in that log.
ATC_ACCEL_P_MAX,1000000
ATC_ACCEL_R_MAX,1000000

1 million cdeg/s/s !

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