Althold mode not responding and bouncing everythere

Hello All,

After finally resolving my compass issue I am ready to figure out the next problem I am encountering. When I switch from stabilize mode to althold mode the quad will slowly sink down or rise up. My throttle stick is always around center and my barometer is covered with a case and a piece of microphone foam. I am trying to get the point where I can use autotune, but that is not going to happen if its bouncing all over the place :smile:. Any help or suggestions are highly appreciated!

Hey Dylan,
I believe it has something to do with the discrepancy between how much power it takes to hover your bird versus what your THR_MID variable is set to. Althold (and loiter) act differently than, say, stabilize.

Take a look at this link to get you going on some queries.