Tuning AltHold climb/fall

ArduCopter Copter 4.2
1

Hi all,
I’ve a 7inch copter with a black cube. I’ve tuned my althold like it explained here.
I still have some vibes in pitch and roll pid. But my question is about AltHold, when I go to left my copter climb and if I go to the right he’s go down.

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In the abose as you can see altitude often follow roll input. More the roll input is bigger more is climb/fall .Do you have any ideas ?

BIN File

2

yes, you need to protect your barometer from wind and prop wash.

3

Yes but my barometer is inside my Cube no ? I can’t protect more.

4

Your Cube is not a fully sealed unit so the barometer can take pressure measurements for the AP.