Is the default altitude AGL or ASL (absolute altitude)?  If default altitude = AGL this could explain why I keep gaining altitude while in FBW_B and AUTO.

Could someone also give me a description of what Energy/Alt PID adjustment controls or changes and how the P to T mix works.

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  • The asl/agl decision is yours to decide when you create your mission. In the planner, you simply check or uncheck the box for absolute altitude. The displayed altitude is asl.

    For the other question, i'll leave it to someone else who may be able to describe it more clearly than I.
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