The conditions are as follows
- Firmware 4.0.7 Stable
- Main flight mode is Loiter
- 15inch prop
Symptoms are as follows
The quad’s altitude goes up and down at will.
The throttle remained neutral, but his altitude changed at will.
Although in loiter mode, the roll pitch continues to flow
When the wind blows, the quad cannot hold up. About 3~4m/s
I have referenced these documents.
I did the usual setting.
I haven’t had any problems so far.
But this presents a big problem.
It is in loiter state but cannot hold properly.
Since posz_p is high, I’ve seen quads hunting.
But this is a little different.
The altitude is changing at will.
alt_source uses baro.
This shows a very good flight in stabilize mode.
But flying in loiter and alt hold scares me.
I upload my binary log here.
Please take a look