Flowhold tuning tips?

Hey all,

I’m looking for tips on getting a solid flowhold mode implemented. I’m running a black cube and the hereflow with default FHLD settings on a quadcopter with 13" props. In loiter it flies great. When I put it in flowhold mode, it tends to do very small “toiletbowling”. Any tips for tuning for a solid flowhold? Thanks!

I’ve had problems with FlowHold. I don’t think it is ready to be used yet, honestly. It has some bad behaviors that can cause instability. I tested this extensively: https://github.com/ArduPilot/ardupilot/issues/11026

I found that using optiflow in Loiter is the better choice, even if the rangefinder is out of range.

If you upload a flight log with the oscillating movement, I can check to see if it’s the same issue I’ve experienced.

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Thanks! Will do tomorrow weather permitting.