How to fix altitude oscillation on PosHold

ArduCopter Copter 3.6
1

Hello.

My drone with PosHold mode oscillates its altitude.
Could you tell me how to fix this issue?

I paste log screenshot.
Log file is here.

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キャプチャ.PNG1920×1050 104 KB

I didn’t controll throttle stick while line number from 700 to 1000

My drone specs is below.

  • Pixhawk 2.4.8
  • ArduCopter 3.6.4
  • Quad X
  • PosHold mode without GPS (indoor use)
  • LIDAR-Lite v3 and PX4FLOW sensing support
  • 1045 big propellers
  • 2212 950KV motors
  • S500 big frame
  • Max 40A output BLHeli ESC
  • 3000mAh 30-60C LiPo battery
  • Pixhawk, LIDAR-Lite v3 and PX4FLOW are on shock mount
  • 1.7kg weight

Thank you.

1 Like
2

@otk1fd,

I forget if we talked about this before or not but it looks like the EK2_ALT_SOURCE = 1 (range finder). It’s mentioned in numerous places but in short, it should be set to “0” in 99% of cases.

1 Like
3

Thank you.

“EK2_ALT_SOURCE = 0” is “Use Baro”.
It means ArduPilot does not use LIDAR value to keep altitude on AltHold and PosHold?

4

No, it uses lidar in AltHold and PosHold but the EKF doesn’t need to use the range finder to estimate it’s altitude. “Terrain Following” is explained here and here.

5

I will set EK2_ALT_SOURCE = 0 and do test flight.

1 Like