I tried to keep the aircraft flying at a fixed altitude in auto mode, but the aircraft would change altitude every time during flight, flying 50 or even 100cm high. I don’t know why. I tried modifying many parameters but the aircraft still behaved like this.
The 1st thing I would so is update to latest Stable and be working on EKF3. Why do you Arming checks off? And re-think the PID Rate pitch/roll P&I ratio. Not sure how you arrived at that. Notch filter isn’t set.
I tried ek3 but the result was the same. I reconfigured the pid but the result remained the same. I saw that the vibration values were relatively good. Is it possible not to configure fft? Is this height change related to the vibration?