Drone oscillates around dronekit input altitude

I am connecting to my cube orange drone with dronekit and setting the takeoff altitude to 5 meters. Drone ascends find, but when the drone reaches 5 meters it slowly oscillates vertically without converging.

When I am in the air and switch the mode to guided with a controller, the drone does not have this problem. We also tried reducing the parameter WPNV_SPEED_UP and WPNV_SPEED_DOWN without luck.

Has anyone seen this problem with guided mode and dronekit? Is this an ardupilot problem or a dronekit problem?


Dronekit sends mavlink commands to the UAV.
The drone is the only component with a control loop .

Improve the tuning and the problem will fix itself.

This is not a dronekit issue.

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