Alt Hold in Megapirate V2.9 r300 keeps climbing

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What steps will reproduce the problem?
1.Install release V2.9 r300
2.Set Throttle Rate PID to P=0.35, I=0,D=0.02,IMAX=8.0
Set Altitude Hold PID to P=0.4, I=0.01, IMAX=3.0
3.Fly the quadcopter to about 10m off the ground and engage ALT Hold mode

What is the expected output? What do you see instead?
Expected quad to hold altitude +/- 2m.
Instead, the quad kept climbing in short, powerful spurts. I turned off ALT 
HOLD when the quad had climbed to about 40m high!

What version of the MegaPirateNG are you using?
Version 2.9 r300

Please provide any additional information below.

I was using v2.8 r3 before, the alt hold had bad oscillations but it didn't 
cause the quad to keep climbing.

Even though I have set the PIDs to much smaller values than the default the 
quad is still climbing with a lot of power. I think this release of the 
firmware is ignoring the throttle rate as it seems to be applying full power in 
Alt Hold mode.

Original issue reported on code.google.com by arthurwo...@gmail.com on 25 Mar 2013 at 4:27

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I forgot to add that I am using the Hobbyking Multiwii pro FC with MTK GPS. The 
motors on my quad are 950kv 2836 with 10x47 props. ESCs are 25A turnigy plush 
with a 4500mah 3S battery on a hobbyking Heavy Aerial Lift (H.A.L) quad frame.

The quad flies perfectly in stabilize mode, and in still air it will just sit 
in position without drift.

Hit the ALT HOLD and it thinks it's a rocket heading for the moon!

Original comment by arthurwo...@gmail.com on 25 Mar 2013 at 4:32

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Did you moved your throttle at the centre position after switching to ALT HOLD?

Original comment by alberto....@gmail.com on 27 Mar 2013 at 7:08

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Yes, definitely. It was in a steady hover at half throttle before I switched to 
ALT HOLD. I've reverted to 2.8R3 and tuned my PIDs and I now get acceptable ALT 
HOLD so I think it is a problem with 2.9 r300 version.

Original comment by arthurwo...@gmail.com on 27 Mar 2013 at 10:19

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I have had similar weirdness with the ALT hold in r300.

It seems to climb for me (slowly), but indefinitely. And I don't move my stick 
once I have entered ALT hold flight mode.

It worked fine on 2.8 and 2.9's earlier versions. Since changing to r300 I also 
had to drop my throttle rate D by 1/2 to get it to stop oscilating in ALT hold 
despite not changing anything on my quad. I agree that it seems to over react 
the motors.

Original comment by glenwimb...@gmail.com on 28 Mar 2013 at 12:42

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In r289 on that mwc pro board I hawe same issue it keeps climbing the only 
difference is how fast from tuning settings up and down. Probably something to 
do with it not being those fancy mpu6050 accelrometers that the original code 
are built for.

Lointer dont work either keeps climbing Position mode works fine (manual 
throttle there)

Original comment by EmilKar...@gmail.com on 2 Apr 2013 at 6:42

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Please, provide more info about your boards (especially which sensors used, 
ITG.. MPU...)
Also, do you have sonar and did you enabled it in Mission Planner? Enabled 
sonar but not connected, can cause error in Alt_hold.

Original comment by Alexey.K...@gmail.com on 3 Apr 2013 at 8:41

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I'm using CRIUS AIO V1, MPGN2.9r300, sonar disabled and ALT_HOLD works 
perfectly if I keep my throttle in the middle position.

Original comment by alberto....@gmail.com on 3 Apr 2013 at 9:06

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I am using the multiwii Pro w/ MTK GPS from hobbyking. I don't have sonar. The 
specs are:
• SMD component design with Atmega2560
• ITG3205 Triple Axis Gyro
• BMA180 Accelerometer
• BMP085 Barometer
• HMC5883L Magnetometer
• Servo output for camera pitch and roll control
• Supports direct connection of GPS module (MTK 3329 GPS module included)
• On-board USB connection for programming

Original comment by arthurwo...@gmail.com on 3 Apr 2013 at 11:22

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Same board
I am using the multiwii Pro w/ MTK GPS from hobbyking. I don't have sonar. The 
specs are:
• SMD component design with Atmega2560
• ITG3205 Triple Axis Gyro
• BMA180 Accelerometer
• BMP085 Barometer
• HMC5883L Magnetometer
• Servo output for camera pitch and roll control
• Supports direct connection of GPS module (MTK 3329 GPS module included)
• On-board USB connection for programming

My thougts is because i tried tuning like crazy it only changes the speed it 
climbes. Is there is some kind of assumptions in the 2.9 code regarding the 
original apm2.5 set of sensors.

Original comment by EmilKar...@gmail.com on 3 Apr 2013 at 4:51

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But i will go outside now try an experiment. rasing my throttle from 40% where 
it howers to center. I Think i did it yestoday but i wil lmake an extra try to 
be shure.

Original comment by EmilKar...@gmail.com on 3 Apr 2013 at 4:53

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So looks like problem with HK Multiwii board with ITG3205 and BMA180, Ok will 
try to find problem. 

Original comment by Alexey.K...@gmail.com on 3 Apr 2013 at 5:19

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Ok I tested the trottle stick is completly unresponsive  can go from center to 
100% to 10% without anny difference whatsoever it just climbes at the same 
speed.

And now i crashed my quad from a prop coming lose in the air or something like 
that. It just vent straight down in stab mode. So will need to rebuild it 
before I do some more testing.

Original comment by EmilKar...@gmail.com on 3 Apr 2013 at 5:23

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Thank you Alexey, you are doing a great job! I am really enjoying flying my 
quad on 2.8r3, currently experimenting with the auto mode :-)

Original comment by arthurwo...@gmail.com on 3 Apr 2013 at 8:16

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Here is a short link to a video showing 2.8r3 running on the same quad where 
loiter and alt hold are working perfectly, very happy with the performance of 
the FC on this release.

http://www.youtube.com/watch?v=I9bg919FkAE

Original comment by arthurwo...@gmail.com on 5 Apr 2013 at 9:46

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I am Using the Multiwii Se board as an IMU for my mega and running the 2.9 R5 
code the Altitude function makes my copter rise heavily.....

Original comment by prathees...@gmail.com on 11 May 2013 at 5:33

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I am using Multiwii Pro from HK (ITG3205 Triple Axis Gyro, BMA180 
Accelerometer, BMP085 Barometer, HMC5883L Magnetometer), no sonar and R300 
version.
For me most of the time (6/10) the quad climbs like a rocket with Alt Hold, but 
sometimes (3/10) it drops like a rock and eventually (1/10) it keeps the 
altitude after some small bumps.

Original comment by ginodoug...@gmail.com on 20 Aug 2013 at 1:21

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Same board and same problem here. Using HK Multiwii Pro with GPS and 2.9 r300 
version.
Last night went to test it. Everything was perfect in Stable Mode, but when 
changed to ALT HOLD (throttle lower than half) my quadcopter started climbing 
really fast, and crashed in a tree branch :(
It climbed so fast that I could'nt do anything to avoid the crash.
Heading back to 2.8 now... 

Original comment by mattogo...@gmail.com on 2 Oct 2013 at 10:44

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I have the same problem with an RcTimer Crius AIOP V2 board.
I was using 2.8 R3 and both Loiter and Alt Hold worked great. 
I only switched to 2.9 R300 because I was burning out servos with the 490hz 
update rate.
Now, when I hover at 1/2 throttle in Stabalize mode and switch to either Alt 
Hold or Loiter, it steadily climbs, as others have said. Using stock PID 
settings, BTW.

Art

Original comment by ArtSpazi...@gmail.com on 2 Oct 2013 at 12:00

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I have the same problem with  HK Multiwii Pro with GPS and 2.9 r6 version...
with version 2.8 r3 never had any problem with the halt hold..

the problem occurs after about 2 seconds you have activated the halt old .
even if the stock of the gas is 20% 40% etc....

Original comment by sangrego...@gmail.com on 2 Oct 2013 at 10:29

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no updates with this  ????

Original comment by LGallagh...@gmail.com on 23 Jul 2014 at 10:17