Holybro H-Flow heavy drifting and Stability issue

ArduCopter Copter 4.0
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1

I am facing an issue with the Holybro H-Flow sensor and unable to fully rely on it. Here are the log files.
logs

2

You are aware that you first need to fully tune it without the sensor, right?

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3

I think not as there is output oscillation from the Acceleration Vertical Controller P&I gains set wrong. Or it’s a contributor in any case.

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4

Thanks for solutions @amilcarlucas @dkemxr did tuning with H - flow now its holding position but new problem I am facing is after centring the roll and pitch it’s not hold the position it’s currently at instead moving with the previous command given eg. If forward pitch is given and center it still move forward instead it should hold the position when centered the stick.

5

Are you using Loiter flight mode? You should.

6

Yes! I am using loiter mode and it’s holding position with minor drift. I only face the issue I mentioned when optical flow quality is low.

7

Then improve the optical flow quality.

8

It depends on light condition :smiling_face_with_tear:.
Will adding external ir leds around OF improve its quality in night??