I’m flying a pretty big X8 copter (~16Kg) with copter 3.5.0rc4 and i’m experiencing weird behavior while changing flights modes from stabilize to a climb_rate controld flight mode like Loiter or AltHold.
The throttle on stabilize is set to about 50% (MOT_THST HOVER=0.44) so when changing flight mode we are still in the deadzone area.
I’m attacing a flight log, all we did is flying in hover and change flight modes, you can see the drastic change in ch_out motors and the climb_rate. After the copter drop about 2-3 meters I think is settling down so the real issue is understanding why the throttle lower itself so bad while hovering?
Your logs show that whenever you switched from Stabilize to Loiter/Althold, the copter would always ascend slightly before descending. Is this what you observed?
From what I can tell, the copter is commanding a throttle down because it senses that it is ascending. If the ascent was not observed, that would suggest a problem with climb rate estimation, which is usually a symptom of vibrations, although your vibes are good. If the ascents did really happen, then there is something else going on.
As far as I understand MOT_HOVER_LEARN in autolearn only changes MOT_THST_HOVER so it will be in the middle of the pilot stick.
I Tried different values of MOT_THST_HOVER from 0.2-0.8 and in all of them the vehicle losses altitude.
I don’t think it’s related to MOT_HOVER_LEARN or MOT_THST_HOVER.