Drone is unstable with payload(Agricultural tank)

ArduCopter Copter 4.3
1

I have developed 10L agricultural spraying tank, without payload it flies well, but as soon as i put 10 liter load it oscillates a lot. But irrespective of payload, drone flies really well with autonomous flight. Can anybody suggest me the reason for that
Thanks in advance

2

Which flight controller you are using???

3

We need a .bin flight log of both load conditions.

4

Just a thought, but does your tank have baffles? Sloshing liquid can be an issue.

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5

@Aditya66 if you got the solution then please share

6

There was no reply. If you have a similar problem then describe your copter in detail and supply a .bin log

7

sorry for the late reply.

my problem was in loiter mode but it is normal behaviour in loiter mode as it occurred in my other drones too.

8

It’s not normal for Loiter oscillate, there is probably something else wrong with PIDs and tuning, possibly vibrations. Even a poor GPS signal can make Loiter appear to oscillate as it chases a wandering position.

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