• Also, on a rotary wing aircraft, the rotors as they spin (in our case props) will generate additional lift as a wing would on a fixed wing aircraft during flight (forward, backward etc...)... How much depends on your velocity so it may or may not be a contributing factor. If so the best way to manage this IMO is on the sticks (throttle management).This is real obvious when you transition from forward flight to 'stopped', you will loose lift and begin to sink without more throttle.

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    Lateral motion will be converted to altitude when you straighten out. Is that your problem?
    There is also a section of the code called throttle_boost that takes the pitch and roll and compensates the lack of downward thrust by increasing throttle. It uses the cos of both angles to increase the throttle. Maybe that could be disabled for a test.
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