Autoquad m4 + esc32v3 can not hold altitute (twiches)

[sany_v]

Autoquad m4 + esc32v3 can,
650mm quad, 4006 320kv, 1555 folding props
1560 gramm weight with battery 6s3p 10500mah

Problems with altitude hold not working properly alway twiches up & down not oscilianting.
Cannot turn PID, try different values
Altitude speed rate P from 130 to 200, Altitude speed rate i from 1.1 to 2.8,
Altitude distance P from 0.25 to 0.4, Altitude distance PM from 2 to 4

See video,
PID setting Altitude_P=200, Altitude_I=1.4
Altitude_nav_P=0.4, Altitude_nav_PM=4
no throtle input
https://youtu.be/KRRjmYSESD0

Need help, how to tune it right?

[bluuu]

Foam on baro ?
What about GPS H/V_DOP ?

[sany_v]

Yes i have foam on baro.
GPS H=0,68 V=1,02
And more when i set Altitude_I=2,28 it start osciliating slow but wth big amplitude

[JussiH]

Post a log file, so we can take a look at ACC data. When you have twitches in altitude and position hold, its usually noise on the ACC.

[sany_v]

I get log from GCS, can anyone help