{"action":"created","issue":{"url":"https://api.github.com/repos/digitalentity/cleanflight/issues/40","labels_url":"https://api.github.com/repos/digitalentity/cleanflight/issues/40/labels{/name}","comments_url":"https://api.github.com/repos/digitalentity/cleanflight/issues/40/comments","events_url":"https://api.github.com/repos/digitalentity/cleanflight/issues/40/events","html_url":"https://github.com/digitalentity/cleanflight/issues/40","id":105657519,"number":40,"title":"ALThold mode not working on my 180 quad","user":{"login":"skaman82","id":11768024,"avatar_url":"https://avatars.githubusercontent.com/u/11768024?v=3","gravatar_id":"","url":"https://api.github.com/users/skaman82","html_url":"https://github.com/skaman82","followers_url":"https://api.github.com/users/skaman82/followers","following_url":"https://api.github.com/users/skaman82/following{/other_user}","gists_url":"https://api.github.com/users/skaman82/gists{/gist_id}","starred_url":"https://api.github.com/users/skaman82/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/skaman82/subscriptions","organizations_url":"https://api.github.com/users/skaman82/orgs","repos_url":"https://api.github.com/users/skaman82/repos","events_url":"https://api.github.com/users/skaman82/events{/privacy}","received_events_url":"https://api.github.com/users/skaman82/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":5,"created_at":"2015-09-09T18:41:26Z","updated_at":"2015-09-10T13:04:48Z","closed_at":null,"body":"Tested your latest naze hex form your dropbox today. Tried the ALThold mode on my 180 quad. Board: naze32 Full. When I put the quad in ALTHOLD it stays for a while but then starts slowly sinking to the ground. Could be the PIDs. The strange thing though is that the quad don't respond to throttle input while in althold mode. I could't raise the quad by increasing the throttle. "},"comment":{"url":"https://api.github.com/repos/digitalentity/cleanflight/issues/comments/139229040","html_url":"https://github.com/digitalentity/cleanflight/issues/40#issuecomment-139229040","issue_url":"https://api.github.com/repos/digitalentity/cleanflight/issues/40","id":139229040,"user":{"login":"skaman82","id":11768024,"avatar_url":"https://avatars.githubusercontent.com/u/11768024?v=3","gravatar_id":"","url":"https://api.github.com/users/skaman82","html_url":"https://github.com/skaman82","followers_url":"https://api.github.com/users/skaman82/followers","following_url":"https://api.github.com/users/skaman82/following{/other_user}","gists_url":"https://api.github.com/users/skaman82/gists{/gist_id}","starred_url":"https://api.github.com/users/skaman82/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/skaman82/subscriptions","organizations_url":"https://api.github.com/users/skaman82/orgs","repos_url":"https://api.github.com/users/skaman82/repos","events_url":"https://api.github.com/users/skaman82/events{/privacy}","received_events_url":"https://api.github.com/users/skaman82/received_events","type":"User","site_admin":false},"created_at":"2015-09-10T13:04:48Z","updated_at":"2015-09-10T13:04:48Z","body":"Tested the new PID defaults today. It works now as expected when Quad hovers normally at 50% throttle. But when I use a little heavier lipo (quad hovers then at 60%) it cant hold altitude an sinks slowly to the ground an stays 10-20 cm above the ground. What do I have to change to make this work with a  heavier lipo? By the way: like your solution! Now it works even when the quad is moving (it does not in the normal CF) and so this flightmode is finally usable as a standalone mode!"}}