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hello,

I am currently using Pirates NG code and XL-Maxsonar EZ4, both Acrobatic and Stable modes are pretty comfortable,

When I turn Altitude Hold in Stable mode, the copter starts jumping a bit, then starts going up really fast :) out of control

I tested the sonar, and I am getting proper values with the test Arduino Code.

Could this be a Altitude Hold PID issue? I tried P's all the way from 0.001 to 3..

Any advice is appreciated,

Thank you..