Why INAV climbs rapidly in Altitude Hold mode? 

exactly what was my problem and the exact solution to this. I was facing this problem of quad going high in the sky like rocket whenever I set position hold mode in my radio. My fc was loosely fit in the mesh of wires in my frame and this would have caused false reading to accelerometer. Then I fit my FC firmly in the frame now the problem is gone and I am very happy with that. Thank for posting this video. 👍👍. You saved my quad.

I was having this problem on a new 3.5" build. i tried soft mounts, i went over it top to bottom tightening bolts and bundling wires. same problem flight after flight, then i figured its got to be in the pid's, i lowered velocity z from 100 to 50 and its holding steady, no more shootoffs. i even got to fly around and land without it doing something crazy. if i remember right, in an older version they weren't so high.

Excellent tips, Pawel! Thanks a lot! 😃 Stay safe there with your family! 🖖😊

Thanks for this video, my attitude hold was shooting like a rocket, after watching this video I realized my flight controller was too tight to the frame so I just loosen it a bit to have a little bit of flexibility and that solved my problem. My attitude hold works like magic. Thanks alot👍

Thank you, that makes sense to my last crash, my propellers was not the one I use usually

Thanks for the clear explanation Pawel

would love to see what a clean noise-free trace looks like. I'm continuously refining my builds but really don't know when I have reach the ideal "noise free build"

Hi pawel, I’m switching to inav all my midrange quads, in the smaller ( 5.5”) Inhave this same problem but the build seems very clean ( Chris Rosser Aosrc 5.5” ) I have double capacitors on esc and FC Vbat , the FC got a plastic cover that protects baro from turbolence. Could it be the icm42688p chip that is too noisy in general ?

I fly fix wing and when I arm my motor and function servos in manual mode servos act normal but if I put it in stabilize mode while armed the servos do not return to center, but soon as I disarm the servos return to center in stabilize mode?

One wonder if in iNav 3.0.2 (Matek F743 Wing Version 2) its possible to use a Cli command to make RX4 Receive Sbuss signal???

Hi did you know why INAV cannot detect my M181 Walksnail Compas? I already plug into the socket to my Speedybee f405wing (SCL &SDA already connected) I heard that if I want to use Altitude Hold feature in INAV I have to activate the Compass

This is the exact same reason why i left INAV and started using ardupilot exact same hardware not even prop changed ,which worked great to this day in inav i lowerd the throttle too much to compensate for skyrocketed that it crashed into the bushes luckily nothing damaged and next day used ardupilot and didn't have to tune at all worked flawlessly at defaults pid and settings

Thank you for the clarification

Is there a possibility to control the sensor fusion composites? Or maybe to smooth out the acc readings with a kalman or lowpass?

Why dont my DJI quads (Phantom and FPV Drone) have this problem? They hold altitude perfectly even with a damaged prop.

How about adding a bias to the baro? So it will be like weighed average with baro having more weight and accel being last.

Hi Pawel, Can you tecommend a nice quad for long flight times , with decent GPS? Really want to try inav instead of betaflight. And think a lot of features would suit a lr drone well (or perhaps a not too big wing ). I'd like to do some waypoint missions with a drone that is as quiet/ stealthy as possible (analog vtx btw)

awesome, you should do a video on how to use the blackbox explorer to fine tune basic stuff

there needs to be some DSP applied to this accelerometer data before INAV uses it then. it shouldn't be disabled by vibrations

Well explained!

Wondering if hover throttle being set higher than needed for hover could be a contributing factor? Is interesting that tendency is to climb, not drop or poorly hold altitude.

nice video ! i have the opposite problem. When I activate the ph my quod quickly loses altitude and I have to recover immediately with the command of the gas. why?! thank you .

I use matek f722px, I coated the FC until cover barometer. My friend said don't to it because make your barometer error then I remove the coating. The problem is my alt mdpl is fine but my alt is minus, when I fly to high the alt is more minus, can't hover or RTH because he say adjusting altitude until my drone to the moon. For the final question is my barometer is error? can I use external barometer to fix it?

*Chris Rosser liked this video*

Hi, Well done very interesting. However how about fitting a Lidar sensor? Are there any instructions for iNav 6 fitting and set up of a serial Lidar. Any help would be helpfull. Regards John

Is it possible to set inav to ignore the accelerometer for altitude and just rely on GPS or baro?

This is odd because I have a 450 quad that has had Inav on it for two years and I never had the sudden altitude climb until I updated firmware. I changed nothing on the quad and the props are new and balanced.

I had this happen in rth whe i was at home point, instead of landing it went full speed straight up...... but positiom hold didnt shoot up ,....

what is the difference between altitude hold and position hold? i cant find a clear answer

Why not filtering accelerometer ? Why not evaluate error using long term altidute reported by gps ?

Hi Pawel its a good introduction but Id like to know about the PID tuning Process for Barometer mainly Velocity Z and Position Z on your next video.

I have a Matek H743-slim v3. It's impossible to set correctly because it is using ICM426XX gyro.

Why not remove accelerometer reading from the calculation?

I had in the "Outputs" tab "Motors IDLE power [%]": 15.0! It had to be not more than 5%! 15% was so much that my copter no longer descends. (INAV 6.0, Chimera 7 1800kv)

Thank you for the advice. No chance for Bumblebee V3. Have to switch back to BF.

In Arduplane gyro setup to .025 for 5inch and for 10inch it .035

Why inav can't to filter that vibrations?

Should vibrations not average out? Actually, you can never get rid of them completely.

Does it rth without barometer?

And what should be the drone climbing slowly

This logic makes no sense. Your barometer and GPS signals are not affected by vibration .. only the accelerometer, yet your code is relying heavily on the false readings from the accelerometer, rather than the barometer and GPS which are more in agreement regarding the craft's true altitude. With this situation a red flag should be thrown up instead of powering the craft further and further into the heavens. An error should be sounded when there is such a huge disagreement between the 3 altitude sensor devices. I realize these 3 devices do not react to altitude changes at the same speed as each other, but surely some better fusion algorithm (yet to present itself) could solve this problem. Before powering the motors into the sky, a check of the GPS and barometer should always be made first to see what they think. If they come back and say " not a good idea" then just flag the error. I realize there may not be enough time to ask the GPS and Baro for their opinions, but to blindly rocket into space is simply crazy !

This is why I use i nav for wings and planes and beta flight for quads I tried I have on my drone had nothing but problems always had to recalibrate it it turned into more problems than it was really worth it was better off to just put beta flight on my drones and inav on all my planes

Why the software just can't fix this problem?! What about giving priority to the barometer data? If the difference between the barometer and the accelerometer is greater than x, then disregard the accelerometer... You are also telling us to soft mount the FC and motors. OK, but doesn't that make the whole drone more flexible? What does it matter if you have stiff arms when you mount your motors on a neoprene base?

If there is a sponge on the barometer, remove it.

My 10 year old Ardupilot based 10 inch quad with hell lot of vibrations (mount a camera and you get jello galore!) does Alt-hold like a boss. It runs on an age old APM2.8. Alt-hold, RTL, missions, everything just works and they work great. Zero config, zero confusion for the user. Just enable the mode. So... when Betaflight and INAV talks about a lot of theory on why the drone falls from sky or why it shoots up with Alt-hold, for me it sounds like poor implementations. I may be wrong though.

but this should help? inav_w_z_baro_p So we can change it so we rely on altimeter more. Right?