I'm troubleshooting some Altitude Hold Problems that are resulting in a about 5 feet of Altitude drop while transitioning from hover to directional flight.
My vibrations are acceptable but I've noticed a high variations in the barometer and IPD EKF values.
I've increased the EKF_ALT_NOISE to 3.75 and it has reduced a sudden 5ft drop to a slow descent of 5 feet over about 10 seconds.
I've attached the LOG. Any other parameters I can adjust to help improve AltHold performance?