I' d ignore pretty much all of it and do some study on basic PID setting - there' s some splendid advice on this forum (do a search). You have already come across the volumes of conflicting and confusing advice from all and sundry ::) That may change in time when (if) the developers decide to fix it. I have not quite got mine to work well either - the bunny hop effect is entirely predictable with the Naze32 under Baseflight and Cleanflight software. Something that Horizon mode will permit as you move the sticks to more extreme end of travel, where you are essentially entering Acro mode! Not nice if that isn' t your intention or desire.Īltitude Hold (Baro) mode is pants by default. That will help limit the plunging into the ground effect you mention. I think the default is around 30 degrees. With Angle the quad will not pitch or roll beyond a set degree of angle (settable in the CLI parameters). It isn' t at all and works very well to introduce the most stable flight possible from a Naze32, ideal for beginners and old hacks alike. I have continuously dropped the P for ACC, and I' m getting no Alt-hold, and I' m currently down at P=9 and even going to P=5 tomorrow.Īlso what should I be expecting from Alt-Hold? I' m thinking that it wouldn' t matter what position that the throttle was in, it would keep the same height of the ground, so that I can get use to using the pitch, roll, and yaw, without loosing another prop -) (So if I did rudder and and moved the throttle position it wouldn' t effect the height, so I can get my tight circles down)Īnd on a side note, would combining Horizon with Baro, give me some sort of magic invisibility while trying extreme turns, where the quad wouldn' t flip, slide down and storm into the ground so much?Īnd to the best of my knowledge, MAG, BARO, and Horizon, would give a form of non GPS loiter?įirst suggestion would be to not use Horizon mode at all - instead use Angle and ignore entirely all the advice that Angle is deprecated. I have also been through several PID tuning sites that say, start with P, then back off at oscillation, then I and back off with Oscillation, and even not to touch D, and start from P again. The Quad is very powerful, and does have the ability to change speed and direction very fast.Ĭan anyone correct me or give me a more noob way of explaining it? I have then read up and this is where I get confused again (I must confuse easily).įrom what I understand there are three PIDs involved in Alt-Hold: BARO, ACC, and possibly Level.Īfter reading the Barometer and accelerometer PID control Alt-Hold, but to leave the Baro PID alone, and to adjust ACC to dampen the sensitivity of the up and down.

It was suggested to put foam over the sensor, this didn' t help. But in alt-mode I was oscillating hard up and down.

Which makes me keen to get alt-hold tuned in. Part of going through so many props is obviously my quad meeting the ground. I' m now spending more time in the air instead of in front of a computer, on average I' m going through 2 props a day, for my 30min flying, but that' s part of the fun.

Cleanflight baro mode