Guided Mode unstable height

ArduCopter
1

My drone with Copter-4.7.0-dev has unstable height after takeoff, im using rangefinder as ek3_src1_posz and ek3_src2_posz, rangefinder is the lidar from MicoAir MTF-01, im not using barometer because i need to hover around 50 cm above a flat surface.

the behaviour of takeoff with mavros varies in my drone for some reason, if I take off using command line, it seem to hold its altitude quite well, however, when I use it in a script, the drone descend shortly after taking off, I tried using ‘/mavros/setpoint_position/local’ to hold the altitude but it doesn’t seem to be stable

im not sure the EKF is using the rangefinder data, the z position values in ‘/mavros/local_position/pose’ is also unstable even before flight

2

Have you tuned the altitude controller like described in the documentation?

3

I forgot to mention, Loiter and Altitude hold seems fine, do I need different tuning for guided?

4

Guided uses the same controller as loiter.

5

okay, so there’s no problem with the controller, could added weight (around 100 gram) affect the controller’s performance? my drone is speedybee bee35 with 5 blade props, its a 3.5 inch drone

6

Yes, it affects the controller performance.

7

it didn’t affect it much, I tested it in pos hold, the height is stable, how do i replicate that in guided?