first of all my config :
- 3DR Pixhawk mounted with foams
- Quadcopter S500 frame (equivalent of F450 but stiffer arms)
- T-Motor MS2216-9 and Graupner E-Prop 9-5"
- 400g 4S 3700 LiPo under the frame, aligned with the forward axis
- HK F-30A ESC flashed SimonK
I fly with this configuration since a couple of months now and I made the PID tuning manually, which gives good results. I had to lower the default roll and pitch P-gains as my copter is slightly overpowered.
After that, I updated to 3.3rc10 and tried autotune functionality, with no wind. It seemed to be a success as all axis were twitching. I saved the new PIDs into the EEProm according to the online doc.
Then I tried to take-off again but it rolled slowly while taking-off until a soft upside-down crash. I tried a second time with the same result.
Going back home, I looked at the log. I saw that all the Pitch values (P, D, ATC_accel) were almost good and close to the ones I found manually, but all the Roll values (P, (D), ATC_accel) where way to low to allow the copter to fly (rate_rll_P~0.02, rate_rll_D=0.004 the minimum allowed value, ATC_accel_R~36000). Yaw values were better than the ones I found manually.
Does anybody have an idea ?