Hi @Gregoire_Dupre1,
As both baro and GPS altitude seem to agree but the estimate diverges, this tells us that the issue is most likely due to noise integration in the inertial solution.
So a few possible solutions:
- make sure the motors are aligned properly or tilted in the right direction (i.e: thrust creates more yaw authority). I can see in you log that the drone is constantly fighting for yaw (actuator controls plot).
- reduce the vibration levels (balance propellers, make sure nothing is loose, …).
- upgrade to the latest PX4 release. We had some good improvements on the estimator in v1.11
Good luck!