I may be wrong but in altitude hold it does fine as long as i am hovering in one spot, But when i pitch forward or backwards it drops altitude and if i wait long enough it will gain it back. Should the altitude stay the same when you pitch forward or backwards i have tried messing with every pid for altitude hold and dropped the pitch down to 20 percent thinking maybe i just couldnt pitch that far. If anyone could help it would be greatly appreciated encase it helps i have a robocat frame with 2400kv tiger motors 5045 props running 3s 2200mah battery. It flys wonderful in every mode i have tried but trying to learn fpv and my biggest problem is maintaining altitude. Please Help