@rmackay9
I have had some issues with the yaw-d term autotune on my smaller quads adding in some oscillations while doing autotune that I am not sure how or why. had no issues on the larger 13" prop drone yesterday. The one that I flew today and did d-term autotune on was a 5" quad with a pixracer(photo attached). I think I have it tuned ok might be able to get the filters tuned a bit better but in general it flies very well. The logs for the 5" and 6" are here and the name of each should be pretty self explanatory. I also had this oscillation happen on another 6" quad but I may have to dig in the logs to find the correct ones but it is exactly as this 5" one did, got good GPS lock and initiated the yaw-d term autotune from loiter flight mode everything goes fine until later on then some oscillations start to happen mid tune and I aborted the tune. I have also added in 3 flight logs to the above folder for the 6in quad. they are labeled 5in and 6in. I have another 6in quad that is also what I think tuned pretty well that I can do some testing on as well.
