If somebody could could help with such it would be really helpful.
I have been searching around for 5-6 days now and reading every post, watching every video but yet I still have to understand how to make this happen properly. I am coming from the Mikrokopter world where the "vario" altitude hold works great based on a barometer alone. Set point when the stick is in the middle and the copter is hovering - once the Altitude hold is engaged it sits mostly steady on the same altitude. Giving it higher throttle will raise the copter right away and pulling the stick back to the middle will set the new altitude set point.
My understanding is that the Ardupilot altitude hold should work the same and I believe it does, but the reaction time when raising the throttle is really slow, I have to push the throttle stick to 3/4 or more to get some raising action from the copter. Once it started climbing pulling the stick back to the middle will not slow it down - only if I lower the stick under the middle point will actually stop climbing - and start descending.
My copter flies very nice in stabilize mode, so I am assuming that some of my PID values are correct.
I have the sonar as well, with a properly shielded cable at least 3 inches away from any ESC. Looking at the values coming through the CLI from the sonar it looks clean, no major jumping. However the values are all over the place when looking at the barometric values. The pressure sensor is covered from factory with the pink foam, I even cut the part from above the CPU out to ensure no heat is getting to it.
The million dollar question would be on what would be the order of the values to modify - or test with the CH6 - in flight tuning to try to get the Alt-hold work properly. The wiki in some places is good but refers to some parameters which were removed in the newer firmware versions.
The second question is that what parameters do I need to modify or tweak to make the copter respond faster in altitude hold mode to the throttle input to "raise or lower the altitude".