ALT_HOLD ON does not block arming

[marian34-git]

is this normal behavior, or is there a bug somewhere?

[breadoven]

ALT_HOLD doesn't block arming on a multirotor, but it should on a fixed wing.

[marian34-git]

I don't think that's right.
Immediately after start-up, the multirotor reacts to pressure changes.

[breadoven]

It is setup so that with throttle low immediately after arming the altitude controller demands a descent and target altitude below the takeoff altitude. So it will react to pressure changes when the motors start but only in a safe way.

What is the specific issue you have with this ?

[marian34-git]

yes, but after stabilization it reacts to baro and is unstable

[breadoven]

You need to be a lot more specific about the problem if you want useful help, e.g. what is unstable ?

[marian34-git]

The drone hasn't taken off yet and is already trying to correct its altitude