When I try to engage loiter or alt hold at about 3-4 meters above ground, the quad shoots up in the air as shown in the barometer altitude logs below. It does not drift too far out but gains about 20m of altitude immediately. There is medium wind in an open field. Please suggest ways to debug this issue and have tighter altitude hold in loiter.
The attached log has afew instances of enabling loiter and the quad shooting straight up. The baro-alt seems about right from what I remember seeing the flight. I would have expected Loiter/Alt hold to be much better at holding altitude and have some spread in X/Y plane due to GPS accuracy. That does not seem to be the case.
What can be done to improve the loiter. Marco has this nice video of Loiter https://www.youtube.com/watch?v=vnJcxMxDfy4 ... how can I tune the quad to get performance like that?
Another thing I notice from these logs is that the GPS reported altitude is totally off compared to the baro-alt. Maybe thats the limits of GPS' precision and from what I understand not necessary for Loiter? I'm using a mediatek GPS.
Thanks for your comments in advance
Please excuse the large size of the log, IMU logging was enabled for this flight.
The compass is well calibrated for this quad and the vibration levels are also well within the limits. Running 3.0rc3.