breadoven

I've had a look at this and I can't work out what the problem is. It might be to do with the fact it regained a valid GPS position briefly...


> This sounds cool, especially for things that are very similar. For example pack voltage and cell voltage. > > Can this be set up per OSD? For example on...

@sensei-hacker It needs testing but it's not experimental. Pretty much as it was before https://github.com/iNavFlight/inav/pull/9471 but with some improvements for rate control.

@Jetrell You could set `nav_fw_alt_control_response `lower if you want to limit overshoot even more. One thing of note is the D term used internally by the PID loop is effectively...

> 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`...

I realised I've been HITL testing this with control smoothness set to 7. So I tested again still using error for D term but with control smoothness set to 0...

> > 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...

Did you test this PR with `nav_fw_alt_use_position = OFF` @Jetrell ?

So it appears that using measurement for D term for velocity based altitude control fixes the instability problem ? Interesting that it makes such a difference. I assume the WP...