Not looking too bad Cornel. Some Roll oscillation in Loiter. I would set the Accel filter to 10Hz, configure the dynamic notch filter and try another Auto Tune.
INS_LOG_BAT_MASK to 1
INS_LOG_BAT_OPT to 4
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I replied to Cornel as a PM, not wanting to derail the current discussion. Since it’s a good demonstation copter of something we don’t see often, a large quad X8, it would be nice if @ThePara can start a new discussion.
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