Have a 2.9.1 quadcopter which flies really well in stabilize mode but when I attempt to use Loiter or RTL, it takes off at maximum climb. It's easily recoverable by switching back in to stabilize mode again but don't know whats wrong. Also, when it takes off, the first few metres seems to read the altitude correctly (sonar maybe?) but as soon as it gains some height the altitude soon goes negative. The altitude seems to be correct, but negative values. I am new to RC in general but I am thinking the neg altitude issue may be related to the loiter/RTL problem?
I do have sonar fitted which I have tested in the CLI and it is working but I have tried with the sonar on and with it off and makes no difference to the behavior in loiter/RTL mode.
You made a good point Richard. If the altitude control is using vertical accelerometer (zAcc) (and I think it is) in conjunction with the baro sensor, it may explain why people are so concerned about vibration. Accelerometers are very sensitive to vibration as far as I know.
I think you got it...