Hello,

I have tried to hold altitude "manually" in stabilize mode, APM2.5, V2.9.1b, quadcopter.

When I have the throttle stick at about hover, I try not to touch it. I used expo on my radio to make it easier to find the right stick position.

Then I try to only use the throttle stick very very slightly in an effort to hold a steady altitude. (and also pitch/roll to keep the quad steady.)

I notice that The quad might stay 10 seconds steady then for unknow reason begins to go down to the ground, then bounces back slowly a bit higher. A little bit as if I had "altitude oscillations".

I have run like this on a whole battery for 10minutes as shown in the graph below:

It shows I had to move on average the throttle from about 50% to 65% as the battery was emptying.

My Throttle params are as follows:

What should I correct to have a more stable altitude hold (manually i stabilize mode) ?

Is it normal that the throttle to hover varies from 50% to 65% as the battery empties ?

Thx for advice