Height and position variance, also the variation in altitude due to height variance

ArduCopter Copter 4.5
1

Hello, My drone TOW is 6kg with Cuav neo 3 pro GPS, t-motor 230kv with 24 inch folding prop. The drone is facing position and height variance. The drone is not maintaining altitude correctly due to height variance.

Screenshot 2025-03-04 122128
Screenshot 2025-03-04 1221281635×422 98.5 KB

May I know what reason the variance in EKF will come. I tried to changing GPS_GNSS_MODE to 0, 5, 65, 13, 71,73 but still i see position variance. Also increased EK3_posne_M_nse from 0.5 to 0.8 and 0.7 but still i am facing the issue.

Can anyone please suggest me to overcome this.

2

@xfacta, @amilcarlucas and other developers please have a look and suggest me the solution.

3

Try changing these:

ATC_RAT_PIT_D,0.0055
ATC_RAT_RLL_D,0.005
ATC_RAT_YAW_D,0.001
GPS_GNSS_MODE,5
INS_HNTCH_REF,0.12
INS_HNTCH_HMNCS,3
INS_HNTC2_ENABLE,0
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
LOG_BITMASK,180222

Do another test flight in AltHold and Loiter - let’s see that log.