Drone wobbles a lot in Loiter mode

[sq-meng (Siqin Meng)]

There is a case possibly similar to yours:

Large hexa, POS controller tuning (is it really the POS controller that needs tweaking?)

Hi All, I’m in the middle of tuning a large hexa for long range flight. (1600mm diameter, U8II/KV85 and CF28/8 props,22Ah/12C with 4kg payload). As always i’m trying to get a stable enough flight for autotune. Which more/less works with althold, but in loiter it starts to oscillate on both roll and pitch. With some tweaking of the PSC_VELXY parameters it is getting better, but still not stable enough for my taste to do an autotune. First I subjected the payload which has a quite low CG so it …

The craft oscillated in loiter and also had a low CG. PSC_VELXY_P and I values needed to be lowered to achieve good loiter performance. Maybe you could try the same (carefully). I still do wonder if it’s just masking the effect of an off-CG IMU, though.