My name is Ryan. I’m on my 3rd APM build and have a few hundred flights under my belt.
With all my builds, I do my best to calibrate everything top to bottom and run a decent check list before I take off. I’ve run compassmot, calibrated ESCs, Accel, etc –
Today when I tried loiter, it went to around 15% throttle and I have to recover with Stability mode. It dropped pretty quickly. When I held the copter in my hand and tried loiter again, it went to around 80% throttle and tried to fly upwards.
I have setup my PIDs and it is solid as a rock in the air. I have not touched any other setting other than Trottle hover is at 50%, Trottle accel is at 50%.
Your Barometric sensor and GPS altitude is a mess.
-Check for propwash getting to the APM.
-log IMU and check vibrations too.
You can plot CTUN/BarAlt - until you get that (much) smoother, you cannot expect it to fly well in any mode that controls altitude.
sorry, the IMU/Acc_ data does not make any sense to me, I am unable to graph it properly.
APM Planner 2 grahed it, but warned about 207 errors.
I can’t evaluate Z vibrations, - important to your Alt_hold.
Thanks guys. I’ve done a few apm builds – not sure why this happened. It’s very balanced, the apm is protected and above the props, and there are no vibrations.
I reset the board, calibrated, setup my PIDs and it is solid as a rock. Loiters within 2 feet, alt hold within 2 feet.