Navigation altitude smoothing algorithm reduces effectiveness of altitude hold

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What steps will reproduce the problem?
1.Set multi-waypoint mission with sequential waypoints at the same altitude
2.
3.

What is the expected output? What do you see instead?
PID control of altitude while en-route between waypoints.

Instead altitude controller tries to hold a linear altitude path between 
altitude when waypoint became active and waypoint altitude.

This has the undesireable effect of zeroing out the altitude error at every 
turn point and gradually trying to recover from the current altitude.  This 
results in substantial degredation to the altitude hold capability.

What version of the product are you using? On what operating system?
R888

Please provide any additional information below.
We should add a user option to turn this behavior on/off.  Does not need to be 
an EEPROM/variable type option.

Original issue reported on code.google.com by dewei...@gmail.com on 20 Sep 2010 at 2:42

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Original comment by DrZip...@gmail.com on 27 Sep 2010 at 5:32

• Added labels: Milestone-Later

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fixed long ago

Original comment by dewei...@gmail.com on 2 Apr 2011 at 3:15

• Changed state: Fixed