After getting my drone fly with manually controlled thrust I want to implement AltHold.
I've checked values I get from ASL and here I report values (5 values per second, aslRaw, asl, and aslLong):
As you can see I've a lot of variation of about 1m between measurements without moving drone. Is this expected? Someone can send me his graph so I can compare?
Here's I report values of graph:
Raw asl Long
99.24132538 100.0004272 99.98594666
98.90526581 99.25888824 99.3135376
99.91959381 99.45204163 99.43891144
99.83197784 99.89264679 99.86543274
99.98968506 99.68513489 99.68630981
99.22380066 99.41822052 99.44589996
100.2618103 99.65882874 99.63825989
100.0597839 99.7594223 99.75145721
99.92578125 100.0386734 100.0275269
100.163887 99.99382019 99.98881531
99.65365601 99.85980988 99.86529541
99.99999237 99.88772583 99.88414764
99.73199463 99.73052216 99.74391937
99.7938385 99.87623596 99.87367249
99.23926544 99.64942932 99.66838837
99.60520172 99.94843292 99.94412231
100.077301 100.1031494 100.0910187
99.11143494 99.21768188 99.27880096
99.54747772 99.53353882 99.52116394
100.5957642 99.69142151 99.67147064
98.98155212 99.69674683 99.70775604
99.79589844 99.17243958 99.18593597
99.88145447 99.60194397 99.57931519
98.48053741 99.07025146 99.11064911
100.3720932 99.99263 99.93765259
100.5916443 99.96833038 99.94931793
99.02896881 99.920578 99.93901062
99.40934753 99.76135254 99.77978516
99.73921204 99.5661087 99.56795502
99.08566284 99.14846039 99.1710968
99.60520172 99.64191437 99.60910034
99.20524597 99.48683167 99.49746704
99.6134491 99.65846252 99.65678406
99.45986176 99.25798798 99.28414154
99.51552582 99.45082855 99.44580841
99.04133606 99.21808624 99.23059845
99.92784119 99.36466217 99.35979462
99.89794922 99.67141724 99.64408875
99.5557251 100.1129074 100.0858688
99.64746857 100.0490646 100.0474854
99.37533569 99.84805298 99.87062836
100.2576828 100.146347 100.1304321
100.0133972 100.0315247 100.036377
99.88558197 99.94012451 99.94345093
99.29389954 99.63337708 99.6594162
99.15164185 99.670578 99.68396759
99.53202057 99.82092285 99.82314301
100.6277161 100.1067581 100.0863876
99.58974457 99.98784637 99.99449158
100.6493607 100.0030975 99.98428345
99.76394653 99.70719147 99.72000122
99.89382935 99.92707825 99.92173004
100.1618271 100.2450333 100.2299728
99.25575256 99.75550079 99.78738403
99.95155334 99.90077972 99.88670349
100.1473923 99.98296356 99.98101044
99.57530975 99.92494202 99.93610382
99.37945557 99.7066803 99.72824097
99.97937775 99.75474548 99.74842834
99.21143341 99.57604218 99.59976196
99.03102875 99.40150452 99.43463898
99.31142426 99.33548737 99.34918213
100.029892 99.62421417 99.59605408
100.2937622 100.0925064 100.0591583
99.81755066 99.99248505 99.98960876
99.94948578 99.56145477 99.58154297
99.84331512 99.82601166 99.82037354
99.16916656 99.38109589 99.40961456
99.529953 99.41532898 99.42232513
99.38976288 99.65094757 99.64052582
99.81755066 99.5884552 99.58757782
99.46192169 99.27033234 99.29141235
99.93196869 99.71385956 99.69062042
99.14958191 99.42985535 99.44192505
99.89176178 99.36830139 99.36210632
100.6359634 99.78009033 99.74475861
98.97330475 99.65708923 99.65848541
100.0237045 99.54619598 99.54677582
99.74745178 99.77593231 99.76027679
99.22174072 99.30116272 99.32928467
99.33718872 99.50686646 99.5125351
99.29904938 99.60987854 99.61715698
100.3793106 100.079483 100.0454254
98.8032074 99.41886902 99.47119904
99.4980011 99.58663177 99.59290314
100.3236542 99.80451965 99.7953186
98.97536469 99.5585022 99.58955383
99.52583313 99.34884644 99.36264801
99.43305969 99.54270935 99.53027344
99.80930328 99.56797028 99.55446625
99.35574341 99.76844788 99.75775909
99.00319672 99.46796417 99.49008942
99.54129791 99.49953461 99.50681305
99.03102875 99.45410919 99.46334076
100.5576248 99.64066315 99.61582184
100.0257645 99.77038574 99.76112366
99.92578125 99.76296234 99.75892639
99.58768463 99.751091 99.75580597
99.42790222 99.65472412 99.66766357
100.165947 100.2913055 100.2624817
99.89588928 100.0959244 100.0919952
99.54541779 99.85871124 99.86849976
99.74951935 99.77907562 99.78462219
99.37533569 99.74835205 99.7529068
99.71343994 99.78753662 99.771698
99.59386444 99.59481812 99.59786987
100.1814117 99.71715546 99.70141602
100.1556396 99.82940674 99.79785919
99.43305969 99.86728668 99.85673523
99.68972778 99.81533051 99.80722046
99.7000351 99.59109497 99.60214996
99.90206909 100.0258102 100.0065079
99.61550903 99.93296814 99.93562317
98.97948456 99.45588684 99.47548676
99.60726929 99.43490601 99.43115234
99.65158844 99.54398346 99.53150177
99.69591522 99.56960297 99.56315613
100.1793518 99.63296509 99.61471558
99.797966 99.7091217 99.69984436
99.48356628 99.66938782 99.67121887
99.4691391 99.56706238 99.57596588
99.8515625 99.80245972 99.78521729
99.62582397 99.28825378 99.32738495
100.1680069 99.47099304 99.45116425
100.657608 100.1387024 100.0828705
99.23719788 99.86182404 99.86859131
99.54335785 99.55643463 99.58245087
99.443367 99.69805908 99.70142365
100.2741776 99.81580353 99.79907227
99.06298828 99.56069946 99.58174896
99.62788391 99.68755341 99.67897797
100.6400833 100.0314484 99.98951721
101.1141968 100.4826584 100.4360657
99.28565216 99.53407288 99.58213806
100.7740784 99.92959595 99.9055481
99.61963654 99.68560028 99.70816803
99.0475235 99.68869781 99.70690918
99.34750366 99.87425232 99.87518311
99.7618866 99.48060608 99.50126648
99.48356628 99.79987335 99.78592682
99.3237915 99.50711823 99.52125549
99.62788391 99.6966095 99.69484711
99.92165375 99.69560242 99.69656372
99.98556519 100.1872787 100.1613007
99.87733459 100.0211411 100.0230484
99.76807404 100.1330338 100.1307297
99.95567322 99.97789001 99.97303772
99.66602325 99.88826752 99.90097046
99.34131622 99.4369278 99.46731567
100.223671 99.80355072 99.78902435
99.98350525 99.83158112 99.82197571
99.2258606 99.31290436 99.34273529
99.05577087 99.26824188 99.27741241
99.79589844 99.72736359 99.69443512
100.1772842 99.8320694 99.81991577
99.68354797 99.23636627 99.26036072
99.51346588 99.53649139 99.53139496
99.78147125 99.33123016 99.34809113
98.407341 99.35502625 99.36630249
99.44130707 99.34536743 99.33248901
99.78765869 99.62509155 99.60183716
99.09906769 99.63655853 99.64523315
99.67736053 99.753479 99.75287628
99.60314178 99.8552475 99.8571701
100.0639038 99.98661041 99.97302246
100.41539 99.60295105 99.62680054
99.97525787 99.994133 99.97808075
99.66808319 100.0676804 100.0642776
99.60520172 99.62469482 99.64523315
99.15988922 99.45296478 99.46722412
99.51964569 99.36179352 99.37593842
100.1875916 99.71747589 99.69694519
99.10525513 99.32260132 99.35446167
99.501091 99.32448578 99.32585144
98.25888824 99.16286469 99.18839264