My x4 quadcopter with Pixhawk is losing altitude when traveling between waypoints in Auto mode. Once it gets to the next waypoint (where it is told to delay 2 seconds), it regains the altitude it was supposed to be in through the path. This goes on between many waypoints placed in a line, as can be seen in the screenshot taken from the KML of the flight. I am attaching graphs of my barometer alt and the gps's relative altitude. How can I fix this problem?
Thanks for your suggestion James. My altitude hold P gain is already at 1.00. Mission Planner does not let me raise it above 1.00.
hint: posting a .BIN log could actually enable somebody to give you the answer. (unless you prefer wild guessing) :)
if you plot CTUN.BarAlt and BARO.press , you can see the sensor does clearly see the pressure increase as it descends.
So it's not wind/speed influence, but tuning.
I'd suggest you upgrade to current release, and compare your settings to defaults, keeping only offsets, modes, stab and rate PID's and other known-to-be-good parameters. - then try to tune it from there.