I’ve noticed a small thrust drop after long‑time flight.Does the rising motor temperature change the actual KV value and affect PX4 altitude hold?Is there any tuning trick to reduce this drift?Thanks for sharing your experience.
It could also be that it was caused by low battery power.
Good catch on voltage sag — that’s usually the first thing to check. Motor temp also plays a role: magnets lose a bit of flux as they heat up (~0.1%/°C), and copper resistance rises, so KV drops slightly. PX4 altitude hold compensates for slow drift, but sudden drops point back to the battery. Thank you,it is very helpful for me!