Hello, I'm having some trouble with my baro. I'm running 2.0.50 taken from git.
When I'm in alt_hold at sonar altitude, it holds very well. But when I'm in baro altitude (more than 7m) the alt hold sucks. I can hear motors change speed very fast.
After trying to find the right PI for my hexa, I decided to create (I couldn't find anywhere) a spreadsheet (the same way openpilot has) with some parameters. This way people can compare their PI values with similar configurations.