Poor ALT Hold behavior in arduipilot3.4.6

Recently, I was tuning the altitude in 3.4.6.

The drones rise quikly, but before it reaches the desired value, it goes down and hit the ground. After a second, it goes up without reaching DSAlt, then goes down again, back and forth.

I looked into the Ardupilot about ALT mode, then I found that the control loop only using IMU as a altitude estimation. I wanna know wether the control loop is updated in 3.4.6 or not.

File is too large to upload here, Here is my bin file:

I read the source code of control loop in ardupilot/libraries/AC_AttitudeControl/AC_PosControl.cpp, and it is controlled only by INAV, that’s why we have a poor performance in ALT mode.

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