Autotune unreasonable low accel_max when vibration is high

When I try tuning my 7 inch quad, autotune returns unreasonable low accel_max causing the quad unfliable. However, those pid seems fine and I have compared it with my previous params before I rebuilt this drone, they look basicly the same.
When I raise accel_max to my previous value, it flies ok but when I run autotune again, they are again reduced. I have checked the filter they looks fine to me.
I’m using dev hardware with 4.6dev firmware now and gyro1 is ICM42688, gyro2 is IIM42652, gyro2 shows abnormal noise but we are not sure why and if it is related to the autotune problem here.
log is here:
https://drive.google.com/drive/folders/1qjFzCJ9LHv7lwDqHJOsUUtVXoVHn8MDq?usp=sharing

Noise causes the problems you are seeing in autotune. To fix this do:

  1. fix the hardware to produce less noise (balance props, etc)
  2. Use quicktune
  3. Use autotune.

Do the steps in the order presented.

I’ve seen the fft and noise level seems pretty good, and this is a new quad. And I have done temp calibration. I’ll try do some more tuning but can you point me why IIM42652 might produce those abnormal noise?

Good question. You could try disabling it and do the steps above. If it works, half of your problem is solved.

BTW have you seen the work I did on the chinese translation?

Blockquote

Yes, I’m working on the translation.

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