roteron No there hasn't been-- it's been a constant forever. I can look at adding that in, it's been on my todo list.
Maquiabelo What is velocity feed forward? Is an option under vtolsettings
It is something that helps the path follower deal with corners on path-- the system looks that far ahead on its current route to see if it needs to start to turn, etc.
Maquiabelo Tune well because the movements are so aggressive when PH start, and it starts to rise little by little.
Make sure the throttle stick is in the middle, because we listen to it in PH / loiter mode to know whether to climb or descend. You can lower the P term in HorizontalVelPID to make the actual movements a bit more gentle. Usually sudden movements in hold are because of GPS noise, though, from radio interference.