Most of the time Roll and DesiredRoll are close, but Pitch is always struggling
Eventually the oscillations are getting out of control:
Your motor outputs are not equal
It’s like you’ve got a weight/COG imbalance but also a bit of motor mount twist causing a physical yaw bias. This is not drastic nor the sole cause of the instability, but it’s definitely something to be fixed because it reduces the amount of control available for stability and desired movements.
You can even see in this graph where there’s a yaw change and continued motion, how the motor outputs change to match, but I think they should still be closer together.
Set all these first, then we’ll get into some other details:
The ATC_ANG P values are wrong for some unknown reason, and are a big cause of the oscillations. They get that far different usually by a mistake on the keyboard or mouse, or a serious weight imbalance during Autotune. Set them to be the same for now:
Something like this for a start:
For your size props, you’d normally use
but with the T-Motor Flame ESCs the consensus is to use these, they are essential really:
And for smoother RC input try:
or as high as 0.3
Perform all the changes above then do another test flight around in ALTHOLD with gentle stick inputs. Dont try missions and guided mode or anything fancy yet. Let’s see the .bin log file from that…
If everything seems fixed you could do another Autotune too.
These are a bit suspicious to me, but leave them as-is for now and we’ll see the what the next .bin log file is like.