My quad has problems with alt-hold. It flies fine in stab but once I switch it over it begins to lurch a lot. It fails to hold altitude too, sometimes it rises and sometimes it drops.
I have altitude Kp set to channel 6 and it is allowed to vary between 0.5 and 3. This setting does not seem to make much difference as the copter has similar symptoms over the entire range.
I'm not sure if my gains are too high or too low. I was thinking about setting throttle accel Ki to zero and adjusting either throttle accel Kp or throttle rate Kp using ch6. I don't want to make it go unstable though.
The other settings that I want to fiddle with are INAV_TC_Z and THR_MID. What is the difference between THR_MID and TRIM_THROTTLE?
My board has a problem with logging so I am unable to collect/post a log.
Here is the video: