need some troubleshooting help! I have this same problem on two separate quads both running Zeus F722 boards with BN-880 gps modules on INAV. Every time I switch into NAVHOLD or ALTHOLD, the quad flies up controllably until I switch back into acro to regain control.

Everything seems to be working fine hardware wise. The GPS is getting a strong signal, the mag is aligned and responsive, drone flies fine in ACRO. I have set the hover throttle to 1200 thinking that would be too low, but it still shoots up.

Any suggestions?

Can you post a dump and diff all from iNav?
Under the sensors tab, is the barometer providing good data?

(04-Apr-2021, 10:32 PM)V-22 Wrote: Can you post a dump and diff all from iNav?
Under the sensors tab, is the barometer providing good data?

Baro seems to be outputting accurate data through OSD. Here is a screenshot of the sensors tab:



I also have a blackbox log if that will help

Diff all:

# diff all

# version
# INAV/HGLRCF722 2.6.1 Feb 25 2021 / 10:22:22 (64249b1a)
# GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# mixer

mmix reset

mmix 0  1.000  1.000  1.000  1.000
mmix 1  1.000 -1.000  1.000 -1.000
mmix 2  1.000  1.000 -1.000 -1.000
mmix 3  1.000 -1.000 -1.000  1.000

# servo mix

# servo

# safehome

# logic

# gvar

# feature
feature -AIRMODE
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper
beeper -HW_FAILURE

# map
map TAER

# serial
serial 1 0 115200 57600 0 115200
serial 2 2 115200 38400 0 115200
serial 3 2097152 115200 115200 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1700 2100
aux 1 3 1 1300 1700
aux 2 11 1 1700 2100
aux 3 10 2 900 1300
aux 4 13 2 1700 2100
aux 5 26 0 1700 2100

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 23 0 H
osd_layout 0 1 12 0 H
osd_layout 0 2 0 0 V
osd_layout 0 7 1 14 V
osd_layout 0 9 1 2 H
osd_layout 0 11 2 3 H
osd_layout 0 12 1 4 H
osd_layout 0 13 12 1 V
osd_layout 0 22 14 11 V
osd_layout 0 28 23 11 H
osd_layout 0 33 11 9 V
osd_layout 0 34 10 3 V
osd_layout 0 38 13 14 H
osd_layout 0 109 23 1 V
osd_layout 0 110 23 0 V

# master
set looptime = 500
set gyro_hardware_lpf = 256HZ
set gyro_lpf_hz = 110
set gyro_lpf_type = PT1
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 120
set acc_hardware = MPU6000
set acc_lpf_hz = 102
set acczero_x = 1
set acczero_y = -4
set acczero_z = -2
set accgain_x = 4082
set accgain_y = 4086
set accgain_z = 4078
set align_mag = CW270
set mag_hardware = HMC5883
set mag_declination = 1140
set magzero_x = 107
set magzero_y = -89
set magzero_z = 272
set maggain_x = 345
set maggain_y = 369
set maggain_z = 491
set baro_hardware = BMP280
set pitot_hardware = NONE
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set motor_pwm_rate = 16000
set motor_pwm_protocol = DSHOT600
set throttle_idle =  5.000
set failsafe_procedure = RTH
set model_preview_type = 3
set applied_defaults = 2
set gps_provider = UBLOX7
set mc_airmode_type = THROTTLE_THRESHOLD
set nav_use_midthr_for_althold = ON
set nav_user_control_mode = CRUISE
set nav_auto_speed = 500
set nav_manual_speed = 800
set nav_manual_climb_rate = 300
set nav_rth_altitude = 100
set nav_mc_hover_thr = 1000
set i2c_speed = 800KHZ
set tz_automatic_dst = USA

# profile
profile 1

set mc_p_pitch = 44
set mc_i_pitch = 75
set mc_d_pitch = 25
set mc_i_roll = 60
set mc_p_yaw = 35
set mc_i_yaw = 80
set dterm_lpf_hz = 110
set dterm_lpf_type = PT1
set dterm_lpf2_hz = 170
set dterm_lpf2_type = PT1
set heading_hold_rate_limit = 101
set d_boost_factor =  1.500
set antigravity_gain =  2.000
set antigravity_accelerator =  5.000
set setpoint_kalman_enabled = ON
set setpoint_kalman_q = 200
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_yaw_expo = 70
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

# profile
profile 2


# profile
profile 3


# battery_profile
battery_profile 1


# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
profile 1
battery_profile 1

# save configuration
save

#

I am not familiar with the Zeus F722 board, but I had the similar problem with other board.
Which side of the board the Baro is located ? If the Baro is located on the upper side (the small Hole in the Baro cover case is facing up), then the props creates huge air stream and turbulence's which drives the Baro creazy.
to resolve this I placed a foam on top of the baro, or you can place any plastic cover around the board.
note: when the props are not running all logs shows perfect results as you posted.
I hope this help.

(08-Apr-2021, 02:00 AM)ravid824 Wrote: I am not familiar with the Zeus F722 board, but I had the similar problem with other board.
Which side of the board the Baro is located ? If the Baro is located on the upper side (the small Hole in the Baro cover case is facing up), then the props creates huge air stream and turbulence's which drives the Baro creazy.
to resolve this I placed a foam on top of the baro, or you can place any plastic cover around the board.
note: when the props are not running all logs shows perfect results as you posted.
I hope this help.

The baro is on the bottom of the FC. I put a foam piece on it anyways just to be safe, but problem persists. Thanks for the attempt

try to change this parameter in CLI:

"set inav_w_z_baro_p" from 0.350 (default) to 0.500