Today we had our first outside test session. We are working on batteries and strugling a bit with power so we only had about 30 minutes in the water but everything seemed to work quite good.
One of the things I don’t really understand is the althold mode. We have set buttons Y and B on our controller to change between mode 1 and 2. In the software this causes to go from manual to learning mission mode. In Manual mode we can go up and down using the throttle control and when we switch to learning at a certain depth it keeps that depth very well. However in Learning mode the throttle control doesn’t seem to have any effect. We can control the height.
Does this supose to work like this or should you be able to change depth in althold mode?
We would still like to limit the amount of power going to the thrusters. We have tried changing the ATC_RAT_YAW_… PID parameters but this doesn’t seem to have to much effect. Would it be possible lower the power output in another way?