Arducopter 3.4.4 (PixHawk) bugs in altitude or yaw controllers?

Arducopter 3.4.4 (PixHawk) bugs in altitude or yaw controllers?

So I've been using copter 3.4.4 since January2017  and have had this mystery problem the entire time with the drone descending at random after being completely stable for 5 to 8 minutes.

L

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PixHawk Drone keeps descending and we don’t know why

So I made a drone since I’ve made other RC models before, and I’ve been learning about all the extra things that go along with drones. Such as the extra sensors, computer and software and firmware.

I really like the PixHawk but Mission Planner has bug

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