My tricopter has APM2.5.2 on it. The firmware is 2.91b.
It flies super well on Stab mode. When hovering, the throttle stick is around the center position.
Then switch to Loit mode, it suddenly reduces the height a little bit and immediately increase the throttle to regain the altitude. I didn't tune any P.I.D, so I'm satisfied with it. This is the most case, about 50%.
However, on other 50% case, it will increase or decrease altitude rapidly! The decrease is scary - It almost hit the ground some times.
This happens on RTL mode too. Most case, it climb to 30meters before returns home. But it often returns without climb (lower than 30m). And when flying back home, it often flies lower and lower then hit the ground!
I wonder the barometer failed. However, when it climbs or descents, no matter controlled by me or by itself, it shows on the OSD or MP that the altitude number is changing accordingly... It just cannot maintain the altitude.
Is it a program problem??
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