Strange behaviour of poshold

[and-sh]

At certain moments poshold forgot about to add I term. What could it be?

It seems to be where the navVel[] or Error is equal to zero.

[and-sh]

This is it looks like from drone.
https://youtu.be/wvMbNxA4vms

[and-sh]

Most probably due to this:

inav/src/main/navigation/navigation_multicopter.c

Line 581 in ba5c96f

accelLimitY = maxAccelLimit / velErrorMagnitude * fabsf(velErrorY);

[and-sh]

Let it be this way

[and-sh]

Much better but some residue left

[and-sh]

O its is gone.

https://youtu.be/ltYEfWZBkQA

I just broke some limitations of Inav.

So it was because incorrect interpretation that angle is acceleration. In reality angle is velocity, because of poor drone aerodinamic.
Eventually it resulted in the limitation of velocity, but not acceleration and different glitches when setpoint and measurement are close.

Will continue testing.

[Jetrell]

Nothing like playing around to work out how and what lines of code do, and there effect if changed or altered.

[and-sh]

Yep
Now trying to find where 15 percent of descent velocity left.
#10547
Why DJI can work precisely, but INAV do not.