Tuning of EKF parameters to help with drifting of drone in alt hold mode


Can anyone here advise me on whether or not tuning the ekf parameters will help with reducing/eliminating drifting when flying in altitude hold mode?


No need to change EKF parameters. You just need to do proper PID tuning and update to ArduCopter version 4.2.3

Apart from the rest of the tuning, one important thing to get right is the “Calibrate Level” in the accel calibration section.
You need to level the whole “prop disc” , or across the tops of the motors, quite accurately by packing under the landing gear then hit that calibrate level button. Don’t assume your copter is on a level surface or that the frame and landing gear is all perfectly straight/level/equal in all directions.

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