Anyone want to comment on the log. Is this the best I can expect for loiter performance?
Ok, I think my problem is solved. It was the two compasses selected that caused the problem. Now that I have only the external compass selected the heli is flying really well. Thanks also to Chris Olson my tail is now pretty locked in. See my parameter file attached.
Parameters as at 30 Apr 2017.param (11.0 KB)
Thanks to all for the help and maybe others can learn from this.
@ozsteel
It looks like your settings are depending on rate feedforward more than rate P, which works very well for flybars, and works on FBL without the oscillation problems. Good to hear you got the tail more locked in. Here’s some params you can play with to make it more “snappy”. These set the acceleration rates in the three axis’. You can turn them up and it will use higher acceleration when making corrections. Refer to the wiki on the range you can set them to.
ATC_ACCEL_P_MAX,110000
ATC_ACCEL_R_MAX,110000
ATC_ACCEL_Y_MAX,27000