Trouble with Hover Mode

[therealrdub]

Hi,
I am having problems using the “hover mode” currently in the software to get my CF2 to hover. When I use it my CF2 will drift in one direction and not fix itself. I decided to isolate the attitude stabilizer bits of the hover mode by just hard coding in a thrust value(not using the vertical PID) and still having the code determine roll, pitch, and yaw values. I have been trying different values of roll and pitch “trim” using the client module to get rid of this drift but have been unsuccessful at achieving a nice looking hover. I’ve considered tuning the stabilizer Attitude and Rate PID’s but I’m not exactly sure how to tune each one given that they are both used in combination. Any ideas would be much appreciated. I’m thinking some combination of PID tuning and manual trim values could get it to work. Hopefully I’m not at the limit of stabilization that the system can achieve.
Thanks in advance

[DaGuRu]

Did you ever figure this out by chance ? I seem to be having the same issue