Hello dear friends.
I am trying to tune my hybrid quad (Thea 140). I tried some values for ins pcs atc mot and other parameters. Some of them look good. But I am not sure I am totally setted up corectly. For loither it can make hover but in stabilize its drifting back and descending. Also The generator mounted back side of the drone. autopilot mounted front side. After some tries on pids, I got good roll values. But while I am going forward and relase stick drone oscilating scary. If I increase pid of pitch then oscilation starts while hovering. Also yaw is not good While I am givin yav drone oscilating and descenting. When I release stick its not stop immediately.
Also I dont know how I can analyse logs (vibe, imu data and others)
Could you please help me. Thank you.
Hello @efefurkan, welcome to the community,
with such a big vehicle you need to take extra precautions. Each test flight can be dangerous and expensive.
So use ArduPilot methodic configurator to guide you. And post any questions here.
Hello dear again me.
I feel I got good improvement in time. Now I would like to tell about my vehicle.
I have a generator below but not centered exactly.
When the vehicle arrived me already some parameters setted but long time ago and I updated the firmware of cube orange to last stable.
Now I have some issues.
First yaw issue. Yaw is not clear its giving response late after my stick input. Also after stick command its not stopping continue to turn. Sometimes its turning itself.
Second Loither is so shaky. Sometimes it has big oscilations in loither whlie hovering. Yaw also wierd when I give yaw command roll and pitch also shaking.
But stabilize mode looks good no shake commands works good even if the drone go back itself I know its because of cg is not adjusted perfect.
Alt hold also good hover learn succesed pcs_accz_I and P correctly setted.
But I am not sure notch filters is correct or not. First I am using t-motor mn1005 motors and 60am flame esc with pwm.
Today I tried to lower mot_thrs_expo from 0.7 to 0.3 around based on misson planner suggestion for flame esc’s. I didnt realize big different except throthle response.
Could you please help me How can I improve the system? especially about notch filters.
Also I am trying to understand How can I review the logs with pid and filter tools. What is the graps meaning.
you can see the filters setted initially When I get the drone. I couldnt dare to change that values. 
