I have not been having this problem until recently, or I just didn’t notice. After I take my quad off and bring it over 50ft (where lidar is no longer fused) and I allow the craft to hover for about 30 seconds and it began to lose altitude, until it seemed like the barometer data caught up with it, then the quad shot up very quickly, overshot the altitude setpoint and came down quickly again, finally regaining the altitude. What I have tried so far:
Increasing EKF2_BARO_GATE = 15 (from 5) - seemed to help some
Decreasing IMU_GYRO_CUTOFF = 40 (from 80) - Made it hold altitude for about 5 minutes before losing altitude.
I should mention that there are 20+MPH winds so the following logs are pretty noisy (about 20% over normal)
I am using firmware version 1.8.2 and flying on a Pixhawk 2.1 Cube.
I have read that vibrations in the Z directions can cause this but I’m unsure of the boundaries. Any Insight would be appreciated.
log with altitude loss (20+mph winds):
normal log with 5-10mph winds (flying on lidar):