Hi All,

I have been flying auto missions with my Y6B with default gains. Most flights are pretty good, with the vehicle maintaining steady altitude, but sometimes it climbs quite a lot above the commanded altitude. Today was such a case (windy conditions, logs are attached).

I'm struggling to figure out what's going on; it's not a baro problem as the baro shows correct altitude (i.e. climbing above the desired altitude of 40m) in the logs. The altitude seems to oscillate unstably around the set point of 40m, before I take manual control.  Could it be a gain issue in my altitude hold? 

Thanks,

James

14-12-16_17-15-56.bin

log.jpg