Following my posts here and here with linked logs I found that what I preceive as strange altitude behavior is related to the range finder desired altitude DSalt.
When throtteling up the rangefinder DSalt increases faster than the Dalt. So when stoping the ascent DSalt is still way high and the copter continues to climb further until rngfnd1_max_use_hgt (20m)
After aborting a descend within rangefinder range, the copter decelerates and then climbs back to the altitude where I released the stick.
My Rengfnd_gain is set to 0.9
PSC_ACCZ values are set according to hover throttle (which is usually 0.23 to 0.24)
I think DSAalt should follow a similar accelleration and decelleration logic like DAlt from the control side. So differences between both are mostly of external nature (pressure change, terain) and then it converges to DSAlt.
But if my stick imputs and the CTUN internal clculations cause diverging desired altitudes thats not right.
