I am trying to autotune my long-range Z84. I started with a quite low AUTOTUNE_LEVEL of 6, but it resulted in the plane getting vertical oscillations. So I thought maybe the value is too high and went down to 3. This changed only the responsiveness of the plane (was slower on 3 than on 6) but the oscillations didn’t vanish. In the end I tried 9 and it went much better!
The main difference that I could spot was in the D-term (over 3x smaller). I didn’t notice those oscillations when D-term was 0 (factory default) so maybe that’s the culprit?
Z84 is a pretty small (84cm) flying wing with quite big control surfaces. I was wondering if there is maybe a better procedure for tuning such a small and agile plane? Also, should I try with a higer AUTOTUNE_LEVEL value? Are there values above 10?