iNavFlight
Quad comes down regardless of throttle in altitude hold
I was in altitude hold when the quad came down to land, fortunately slowly enough, totally ignoring the throttle. I do think that this issue looks like a repetition of #8839, closed with problem apparently due to mechanical vibrations: please close the present issue if you think there is nothing new here. My quad is a "seasoned" build, so in the past also reported damages but since, everything (or nearly everything) showing damages was replaced. The problem is sporadic: last time appeared in one of three flights and in recent months it happened only rarely. It looks that, when the problem starts in altitude hold, the quad is "doomed" to come down, whatever the throttle stick. Please have a look at the quad descent, in the blackbox, after 3:34, at baro, gps, throttle and rc command... Btw, the step in mcPosAxisP[2] was caused by what ? I attach blackbox and dump.
INAV_7.1.2_cli_CHIMERA7_20250802_081449.txt
It's caused by the same old problem of position estimator showing contradictory Z position and climb rate, i.e. Z position is decreasing even though climb rate is +ve. Possibly caused by a slight +ve bias on the Z acceleration. Try increasing inav_w_z_gps_v to 0.35 so the GPS velocity correction is more effective.
This may have been fixed with recent changes for 8.1.
