I have a copter that has had some issues when it comes to autotuning recently. When flying in stabilize the controls are pretty decent (yaw could use some love though). The main issue is in when in auto and loiter we have observed some poor overcorrections, to the point the aircraft almost crashed. We have reattempted an autotune but it usually fails out. As well, we have installed a compass that’s new to the system and have noticed variance warnings during the tunes.
The main goal is reduce the over corrections to improve stability. Not too familiar with harmonic notches but we have put the logs below.
We successfully conducted an autotune and saved the changes to the vehicle. However, we are still seeing some twitchy exaggerated overshoots while in loiter mode. The Bin file is in the above link under flight 41. Any help would be greatly appreciated.
1st configure some logging that does something other than generate huge files. Disable Fast Harmonic Notch Logging in the bitmask and set the Raw logging option to 9. Suggest you disable FFT for the notch and use throttle based. Then configure the notch filter and try Auto Tune again after setting the Vertical Acceleration Controller gains properly based on the hover thrust value.