Quadcopter projects - experiences about altitude stabilisation pls

// excuse my english

Hello, I'm writing my own alg to handle quadcopter on Raspberry Pi. Now I'm working on altitude stabilisation. My confguration is MPU6050 and BMP085 Barometr.

So as u know the BMP085 is drifting usually about +-0.5m. I have PID for this issue but not too good results - it is oscilating too much, copter is still up and down. I'am also trying to use it together with Z axis from MPU6050 accelerometer but I need some hints :)

So pls what are your experiences in altitude stab?

Thx, George

you could use a delta filter to change the altitude value at the rate of the accel value