Hover, Angle/Horizon mode🚁 FPV Drone

Drifting / not holding hover in Angle mode

The quad slowly drifts sideways instead of holding a fixed hover point in self-leveling mode.

💡 The idea: Confirm it's an accelerometer issue, not a gyro/PID issue, before chasing the wrong fix.

Try these in order

Make one change at a time and re-test — that's how you learn what your car likes.

  1. 1
    Confirm drift occurs only in Angle/Horizon (not Acro)

    Isolates the cause to the accelerometer, not the gyro.

  2. 2
    Adjust acc_lpf_hz (accelerometer lowpass)

    Reduces ACC noise sensitivity.

  3. 3
    Recalibrate the accelerometer / check for vibration affecting ACC readings

    Vibration corrupts the level reference the ACC provides.

Found what works? Save it as a Setup Sheet and compare it against your baseline, log the result in your Run Log, or dig deeper in the RC Wiki.

General RC tuning guidance — your chassis manual's own tuning chart is the final word for your specific car.