FW r196
#define NAV_ALT_POS_P 0.33 // Standard 0.20000000298
#define NAV_ATL_SPED_P 325 // Standard 200
#define NAV_ATL_SPED_I 6.25 // Standard 2.85
#define NAV_ATL_SPED_PM 170 // Standard 150
#define NAV_ATL_SPED_IM 700 // Standard 600
#define NAV_ATL_SPED_OM 750 // Standard 600
The Hexa sometimes still looses some altitude. And I is much to high. Today I was looking for a lost little rocket in the grass with my son. From some 20m altitude I hit RTL. I felt that the Hexa is coming in to low and added some "alt" with the throttle stick. Boom, the Hexa starts to oscillate like crazy (like in the instructional vid). After going to manual I could land safe.
So, what happened? Looks like the throttle input "engaged" the NAV_ATL_SPED_I term which otherwise is "locked" or maxed somehow.
Any suggestions are very welcome. I need to tune the Alt_hold right.
Cheers
Christof