2.0.50 is a work in progress, but this video highlights the Altitude hold progress in the latest code.
Changes include a faster Baro filter to reduce latency and temperature induced noise. Alt hold control using the throttle has been upgraded to have a faster and proportional response.
Acro mode has been enhanced and now has it's own duplicate set of Rate PI's for more flexibility.
I'll have this posted in the next two days to GIT and the mission planner.