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Hello, I would like to share my experience on some test flights I've made today.

I am flying ArdupiratesNG code so I can say the stabilization algorithm is very similar (if not identical) the the current RC2 NG code.

This is what I experience when flying in stable mode:

Once gained height, to avoid turbolence in vertical descent, I push forward the copter and lower throttle. What I experience when the descent rate is high, is that I have to push to the limit the stick to get a slight forward movement otherwise the IMU will try to compensate to much. It looks like the IMU's sensors are "fooled" by the Z acc. in some way.

Does this sound familiar to whom has much more experience in flying?

Is there a better way to descent in a straight line?

Tweaking PIDs for Pitch could help in this? 

Thanks,

Emile