SUCCESS !!! It is now flying great
HERE WAS THE BIGGEST PROBLEM: Solved by chronowarper, Thanks !!!
You always need a little bit of D to dampen overshoot or it’ll oscillate from P. So P:D ratio is another better way to look at it. Zero D isn’t good either.
But too much D will cause its own D oscillation.
HERE ARE MY SETTINGS: Copter I Flight XL-7 4 Cell Battery. Arducopter 4.1 Anything not listed below is left in DEFAULT setting.
ArduCopterSettings IFLigt XL7 Copter:
FRAME TYPE: First SINGLE ROTOR PER ARM Quad Copter Box (even thought nose is pointing wrong), Then Check X , Y6A below.
ACCEL CALIBRATION
COMPASS CALIBRATION
ARMING_CHECK 0
RCMAP_THROTTLE 1
RCMAP_ROLL 2
RCMAP_PITCH 3
RCMAP_YAW 4
SERVO OUTPUT:
1 MOTOR 4
2 MOTOR 1
3 MOTOR 2
4 MOTOR 3
RADIO CALIBRATION
FLIGHT MODES:
FLTMODE_CH 5
SET MODES: LOIT LOIT LOIT RTL STAB STAB
BATTERY MONITOR FOR MATEK F765:
ANALOG VOLTAGE AND CURRENT
OTHER
Voltage Devider 11
LOIT SPEED 3500
MOT_BAT_VOLT_MAX 16.8
MOT_BAT_VOLT_MIN 13.2
MOT_PWM_TYPE 6 Sets Dshot 600 Recommended
SERVO_BLH_AUTO 1 Enables Configure of ESC via flight controller
RSSI_TYPE 1
RSSI_ANA_PIN 11
RSSI_PIN_HIGH 3.3
RSSI_PIN_LOW 0.1
RTL ALT 6000
BRD_SERIAL1_RTSCTS 1
SERIAL1_BAUD 57
SERIAL1_PROTOCOL 1
SR1_EXT_STAT 1
SR1_EXTRA1 5
SR1_EXTRA2 5
SR1_EXTRA3 1
SR1_PARAMS 10
SR1_POSITION 3
SR1_RAW_CTRL 1
SR1_RAW_SENS 1
SR1_RC_CHAN 1
SERIAL_5 PROTOCOL : 16 ESC Telemetry
SERIAL_5 BAUD : 115
WPNAV_SPEED 2000
OSD_UNITS IMPERIAL
OSD Screen Setup
RADIO CALIBRATION
TUNING IFLIGHT XL7
MOT_THST_EXPO: 0.60
MOT_THST_HOVER: 0.18
INS_ACCEL_FILTER: ???
INS_GYRO_FILTER: 60
ATC_ACCEL_P_MAX : 137500
ATC_ACCEL_R_MAX : 137500
ATC_ACCEL_Y_MAX : 31000
ATC_RAT_PIT_FLTD : 30
ATC_RAT_PIT_FLTT : 30
ATC_RAT_RLL_FLTD : 30
ATC_RAT_RLL_FLTT : 30
ATC_RAT_YAW_FLTE : 2
ATC_RAT_YAW_FLTT : 30
PSC_ACCZ_I: 0.36
PSC_ACCZ_P: 0.18
PID EXTENDED TUNING PAGE / BOX:
P ROLL : 0.1013 P PITCH 0.1013
I ROLL : 0.1013 I PITCH 0.1013
D ROLL : 0.0027 D PITCH 0.0027
VIBRATION TUNING
INS_HNTCH_ENABLE : 1
INS_HNTCH_MODE : 3
INS_HNTCH_REF : 1
INS_HNTCH_FREQ : 128
INS_HNTCH_BW : 64
END ARDUPILOT