Is it normal for the drone to overshoot 10 cm - 15 cm during takeoff and then settle to the desired altitude? Else how can I improve this behaviour? I understand it doesn’t matter much for outdoor flight but indoors, it does sometimes increase our heart rates.
Post a link to that .bin. Perhaps tweaking the vertical accel/position/jerk controller gains may help.
First I would try increasing PSC_JERK_Z in small increments from default (5). If you were flying it outside I would say double it and test it as I have this set at 15 on some smaller craft.
You can also increase PSC_VELZ_P in combination with Jerk. Maybe try 7 (from default 5).
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Set PSC_JERK_Z to 20 and now the overshoot is negligible. Also changed POS_VEL_P to 7
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