Please forgive me if this is obvious, but I havnt seen any explanation around.
I've been having a really bad time getting altitude hold to work. Sonar is set up properly and very well shielded. No matter what I do, the altitude seems to sink to the ground or take off into the air slowly.
Is there more to it than tuning the controller? What exactly does CH7_OPTION - CH7_SET_HOVER do? Do I need to set a hover value for the controller to base the altitude hold on?
Anyone have any tips?
Replies
IF you configure ch7 to set hover, it will set hovering throttle for the copter. Adjust your throttle manually until the copter neither descends or ascends, then switch ch7 high for a short time (1s should do fine). The copter will now use this value as basic hoover value.
If you don't do this, the copter will use the throttle position when althold is engaged as basic value. So if you engage althold while ascending or descending, it won't be very good and the copter may have trouble keeping altitude. In any case, you should avoid engaging althold when the copter is descending or ascending. At least that's what I've read quite a while ago. I haven't checked this in current code, so don't shoot me if I'm wrong or if it has been changed meanwhile.
You do have your baro covered with a piece of cotton or open cell foam, right ?
If you look at your logs, what are the readings of baro and sonar like ?