Do you think the FCU is not aware of your drone CG?
Or drone x,y, cg is not at the centre of the thrust point?
The small drone may not be so critical, as they are small…
we did before using 30° for ANGLE_MAX for small drone when doing autotune.
At this point if the hardware , firmware is working right all you need to do is to turn down the gains.
@amilcarlucas @dkemxr @Jai.GAY @Quadzilla thanks for your comments! I’ll let you know how this goes after I fix the drone. Maybe in 1-2 weeks.
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