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Hey,

today I noticed an old problem, which was already reported by other members in 2012. When doing a yaw (speed about 90° per second) for about 2s (so 180° turn), the copter ist really stable in its height for the first 90°, but then (slowly or suddenly) starts:

a) descending when yawing right

b) ascending when yawing left

Today was my first flight with an OSD so I could see that during such a descend, the measured height of the copter didn't change, although it dropped from 6 m to about 3 m. I attached the logfile and a screenshot.

Let me explain the situation (screenshot):

I start turning right, the yaw increased until it flips over 360° at 8120 (might this be a problem for the PID?). At 8160, the copter thinks it is ascending, so it cuts down the throttle. Actually, it is descending (even a bit fast). It descends about 3 meters and I have to push up throttle nearly to 90% to avoid a crash to the ground. The copter never notices what happended, baro alt stays always above 6 m.

PS: When I yaw 180° to the right, the copter descends about 2 meters and stays at that height, and when I yaw to the left, it will ascend 2 meters and then stay at the new height (no change in the baro-alt-value). So I don't feel it has something to do with my PID-settings.

2014-03-02 15-49-53.log