Flew for the first time in a while this morning, my first test of 2.2. I ran into an issue where in ALT_HOLD mode at low level the quad would gradually sink into the ground. From memory I had this issue with other FW versions too, so it's probably my setup.
Looking at the logs (see attached, it actually logged this time!) I can see why. The sonar input is all over the place. I don't understand why though. I have a shielded sonar cable, and everything works fine when testing in CLI.
Any help would be appreciated.
Are you using an Xbee? They can interfere with the sonar. See if you can mount them further apart.