On my last build (same frame) I got oscillations when I enabled the ESC/RPM based notch filter.
I posted about this and a comment came in that setting up the filter would change the tune. Reducing the PIDs indeed eliminated the oscillations.
Today following a similar tuning methodology, I decided to simply collect raw data for use in the Filter Review Tool, before enabling the notch filter.
To my surprise, I got a similar oscillation even though no filtering was enabled - only the raw gyro data collection.
I can again reduce my PIDs - but perhaps someone might comment on why simply collecting the raw gyro data would cause a problem.
I have LOGs from two test flights. The first if from when the raw gyro data was logged - it’s a short flight due to the oscillations and slightly squirrelly control.
And another flight right after this, without the raw gyro data logging.
I’m using a CubePilot Cube Orange with the bi-directional dshot target.
The oscillation is probably not the ESC notch per se but because you are using multi-source - the number of notches introduces phase lag which can be tuned out be lowering PIDs but also can be addressed by narrowing the notches.
Oscillation can be caused by many things, so just because one thing was the cause last time does not mean it is the cause this time.
Thanks @andyp1per - I don’t have a notch filter enabled - just raw gyro logging.
I’m good with the idea of having to adjust PID’s once the notch filter is working. But in this case, I’m only logging the gyro data.
If there’s something about logging gyro data that upsets the tune - then maybe it also intrudes on the tune once the notch analysis is done and raw logging is turned off.
Whatever the situation is - it would be good to know what’s going on - and what to do about it.