Jetrell

@breadoven My testing was limited and quick. But from those few flights. It would appear that [commit](https://github.com/iNavFlight/inav/pull/9387/commits/4c4a74cdeffbe64f9ffbec32dd8f9b1cb48d1bb0) is part of the problem or causing it. This would seem to confirm...

@cptX That's a normal function when GNSS position data is being used to update/augment/correct the attitude reference, from the effects of inflight accelerometer drift.. What you are seeing is noticeable...

>GPS cannot give info about pitch and roll so how the pitch and roll angles are affected if all sensors are providing the same input? Axis position is based on...

INAV doesn't use an EKF for position estimations. I was working with a guy last year, who modified AP's EKF for INAV use... It worked a bit better than INAV's...

> I'd have thought a crude form of wind measurement for a multirotor would just involve letting it hover in Angle. The ground drift should be equal to the wind...

>I have only looked at it briefly so far, but it occurs to me that reflections from parts of the craft @sensei-hacker I've certainly experienced that problem before. Causing the...

@breadoven I flew a few flights today with one of the planes that had tuning issues using the velocity altitude controller. I used the OSD/Adjustments for inflight tuning. Starting out...

After running some more tests with this today. And proceeding to increase the gains. There was no possibility of getting near what could be achieved with the old `nav_fw_pos_z` controller....

>Is this related to rate control behaviour or maintaining an altitude such as during cruise or both ? It was related to both. Yesterday I started out with _P_ =...

>I've now changed velocity based control to also use measurement for D term with the latest commit. This is mainly as a test. If this resolves the problem for velocity...