{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4210","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4210/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4210/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4210/events","html_url":"https://github.com/ArduPilot/ardupilot/issues/4210","id":156831504,"number":4210,"title":"AltHold Algorithm Bug","user":{"login":"buckker","id":7835537,"avatar_url":"https://avatars.githubusercontent.com/u/7835537?v=3","gravatar_id":"","url":"https://api.github.com/users/buckker","html_url":"https://github.com/buckker","followers_url":"https://api.github.com/users/buckker/followers","following_url":"https://api.github.com/users/buckker/following{/other_user}","gists_url":"https://api.github.com/users/buckker/gists{/gist_id}","starred_url":"https://api.github.com/users/buckker/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/buckker/subscriptions","organizations_url":"https://api.github.com/users/buckker/orgs","repos_url":"https://api.github.com/users/buckker/repos","events_url":"https://api.github.com/users/buckker/events{/privacy}","received_events_url":"https://api.github.com/users/buckker/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Copter","name":"Copter","color":"02e10c"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2016-05-25T19:31:26Z","updated_at":"2016-05-27T14:45:39Z","closed_at":null,"body":"Hello Friends\r\nI posted my problems in connection with overshooting in the AltHold mode a few months ago on DIYDrones. But nobody really listen... \r\nToday I did some aerial footage for a commercial. It was windy but I saw no reason to don't start. I waited in the the Loiter Mode until I get the order to fly forward. Suddenly my X8 coax copter nearly did a backflip... I switch immediately to the Stabilize Mode and the multicopter leveled horizontally. After that I landed and finished the drone shots. \r\nI went home and did a comparison test between the AltHold Mode and the Stabilize Mode. The goal was to fly forward and to slow down the flight speed by push the transmitter stick to the neutral position. So, no aggressive brake maneuver.\r\nHere it is in the AltHold Mode, you can clearly see that the multicopter overshoots. :\r\nhttps://www.youtube.com/watch?v=cNSFbXruIBE\r\nAnd the same maneuver in Stabilze:\r\nhttps://www.youtube.com/watch?v=KqRJz9XztYU&feature=youtu.be\r\nYou can clearly see a difference between the flight modes. I got this problem also during shoots early this year. We said, it must be the weather conditions, maybe to windy.. But no, in my opinion it's a problem with the AltHold mode and all other modes who relate to them. \r\nI hope you guys find a solution for this. It's only a matter of time til a multicopter crashes and hopefully nobody get injured...\r\n\r\nHere is my setup:\r\n\r\nV 3.3.3 / 3DR Pixhawk\r\nX8 Coax\r\n\r\nBTW, I have the same problem with other X8 coax multicopter...\r\n\r\nThanks a lot\r\nMichael$\r\n[276.zip](https://github.com/ArduPilot/ardupilot/files/282802/276.zip)\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/222165470","html_url":"https://github.com/ArduPilot/ardupilot/issues/4210#issuecomment-222165470","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/4210","id":222165470,"user":{"login":"buckker","id":7835537,"avatar_url":"https://avatars.githubusercontent.com/u/7835537?v=3","gravatar_id":"","url":"https://api.github.com/users/buckker","html_url":"https://github.com/buckker","followers_url":"https://api.github.com/users/buckker/followers","following_url":"https://api.github.com/users/buckker/following{/other_user}","gists_url":"https://api.github.com/users/buckker/gists{/gist_id}","starred_url":"https://api.github.com/users/buckker/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/buckker/subscriptions","organizations_url":"https://api.github.com/users/buckker/orgs","repos_url":"https://api.github.com/users/buckker/repos","events_url":"https://api.github.com/users/buckker/events{/privacy}","received_events_url":"https://api.github.com/users/buckker/received_events","type":"User","site_admin":false},"created_at":"2016-05-27T14:45:39Z","updated_at":"2016-05-27T14:45:39Z","body":"Thanks Rob\r\n\r\nYour explanation sounds plausible. What do you mean with the bandwith? Or which are the parameters to tune?\r\n\r\nHere is the setup of my X8 Coax:\r\nMotors: Dualsky XM5015MR 6 TURN (390KV)\r\nESC: Maytech OPTO 50A BlHeli\r\nProps: Tiger 16x5.4\"\r\nBattery: 6S16000mAh\r\nTakeoff weight: 8.5kg\r\n\r\nthe log file is attached on my first post, I hope you can see it ;-)\r\n\r\n![fl8copter-x8-800-coax_1](https://cloud.githubusercontent.com/assets/7835537/15611350/43559082-242a-11e6-82bd-3f2ee39e71fb.jpg)\r\n\r\n"}}
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