Constant Height in AltHold

ArduCopter Copter 4.2
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1

Hey guys!
I’m currently flying without GPS and relying mostly on a down facing lidar.
During althold i fly over obstacles and i wish the drone to keep its height and not respond to changes.
I have some flights with RNGFND_FILT = 0.1 and 5.0, and another flight with PILOT_ACCEL_Z = 150 and 10.
I turned off obstacle avoidance (I think) and still nothing is working and the drone reacts to the obstacle.
In the logs attached I fly above a cardboard box and back (so 2 spikes in the CTUN.SALT).

RNGFND_FILT = 0.1
PILOT_ACCEL_Z = 10
PILOT_ACCEL_Z = 150
RNGFND_FILT = 5.0

Do you guys know a fix for this issue?

Thanks,
Martin

2

I am getting overshoot in both alt-hold and Loiter flight modes and both indoor and outdoor flying during takeoff with LW20/C installed.

I still do not know how to fix it.

3

hi ,bro,Have you found a solution to this? I had the same problem

4

Not yet… No.
But I fear it has something to do with vibrations

5

You may want to try disable the SURFTRAK_MODE to see any improvement if you are using 4.2.x version.