I am flying drone indoor with px4flow for position hold using ekf2.
It looks like it is trying to maintain position in x,y axis as below.
However when looking at z axis, setpoint is moving as if it is following the control output.
During this flight, I was trying to maintain throttle at about 50% and only engage if it loose too much altitude.
I am curious if this behavior is normal and only because it is flying too close to floor. (I did not enabled terrain following mode nor distance sensor aid mode)
In mc_pos_control module, I see some code is limiting the height and manipulate z setpoint.
Does anyone have similar experience?