Mutliwii Crius SE altitude test using default PID to see if the quad frame enhancements I made improved performance and the tests were very good. On previous flights, I could not make altitude hold to work and the quad would oscillate wildly up and down.
During the tests it still oscillates but will actually stay within a much narrower corridor. I loaded a different sketch which was modified specifically for the Crius SE and even indoors I find the altitude hold works very nicely.
Will be doing more tests outdoors with the wireless telemetry to check and be able to make adjustments on the fly.