I am working right now in an autonomous 6 inches quad that is as powerful as a racing drone. I made it to fly pretty decently, but in altitude hold I notice how the drone buzzes because of the motors accelerating and decelerating really fast all the time, trying to keep the altitude. So the drone does not sit smoothly but a little bit bumpy. That happens as well obviously in AUTO mode, and I guess in all modes that hold altitude. I went thru the wiki and I was reading that In powerful copters Throttle Accel should be decrease by 50% in both P and I to 0.5 and 1. But I realized those are the values I already have.
I wanted to decrease Altitude Hold P but looks like 1.000 is already at the minimum.
Should I keep decreasing P and I in Throttle Accel?
Thanks in advance