You still have too much noise.
I can’t see much from your logs because you have not got the pid logging set fast enough. Like this:
I would need to see your FFT flight to see if you harmonic notch settings were right. If they are I would try tuning with:
INS_ACCEL_FILTER 10
INS_GYRO_FILTER 20
ATC_RAT_PIT_FLTD 10
ATC_RAT_PIT_FLTT 10
ATC_RAT_RLL_FLTD 10
ATC_RAT_RLL_FLTT 10
ATC_RAT_YAW_FLTE 1
ATC_RAT_YAW_FLTT 10
Hello @Leonardthall
already I had my hnotch tuning before. here is my parameters:
INS_HNTCH_ENABLE 1
INS_HNTCH_ATT 40
INS_HNTCH_BW 54
INS_HNTCH_FREQ 81
INS_HNTCH_HMNCS 3
INS_HNTCH_MODE 1
INS_HNTCH_REF 0
PRE-FILTER log:
https://drive.google.com/file/d/1hDnSFb2Ckb4kWp37S6ouJAroMEI-8MmJ/view?usp=sharing
https://drive.google.com/file/d/1tyBRlWX6x_xrbucCV7s70t9g0R2jlj9Y/view?usp=sharing (another old log)
Post-Filter :
https://drive.google.com/file/d/1rjlTEImjziE3YZHkWwy6s3o0Gi9iRfuy/view?usp=sharing
I did new tests and autotune after your suggestions.
new parameters :
INS_ACCEL_FILTER 10
INS_GYRO_FILTER 20
ATC_RAT_PIT_FLTD 10
ATC_RAT_PIT_FLTT 10
ATC_RAT_RLL_FLTD 10
ATC_RAT_RLL_FLTT 10
ATC_RAT_YAW_FLTE 1
ATC_RAT_YAW_FLTT 10
have set pid logging.
AUTOTUNE log:
https://drive.google.com/file/d/1NFn4pBB-pHU1oyCQNR5hpwHaFvv8aXuo/view?usp=sharing
ROLL And PITCH test log after autotune :
Additionally, I reduced ATC parameters again
ATC_ACCEL_P_MAX 30000
ATC_ACCEL_R_MAX 30000
ATC_ACCEL_Y_MAX 6000
https://drive.google.com/file/d/1HjcSDJ4XTEHBtZ567e4T5ME1-RoQ0p1U/view?usp=sharing
Thank you…
Harmonic notch profile is a bit messy but your settings in the log seem ok but are different to what you have here:
I don’t tend to increase ATC_RAT_YAW_P over 0.5 ( I = 0.1 x P )
So how did it fly after autotune?
I apologize @Leonardthall . it is my fault , that was my old setting. I use this values that @andyp1per adviced.
here is :
INS_HNTCH_ATT 40
INS_HNTCH_BW 20
INS_HNTCH_FREQ 40.5
INS_HNTCH_HMNCS 3
INS_HNTCH_MODE 1
INS_HNTCH_REF 0.22
But I dont know why result FFT a bit messy.
Flying good but sensitive to the wind so a little shaking in little windy weather. So i am not happy i want to see too stable flight just like your Callisto 50 
Can you share a sample log that record of callisto
Actually i cannot decide which one of result is better ? Which settings should I continue with ?
INS_GYRO_FILTER 20
ATC_RAT_PIT_FLTD 10
ATC_RAT_PIT_FLTT 10
ATC_RAT_RLL_FLTD 10
ATC_RAT_RLL_FLTT 10
ATC_RAT_YAW_FLTE 1
ATC_RAT_YAW_FLTT 10
and
INS_GYRO_FILTER 30
ATC_RAT_PIT_FLTD 15
ATC_RAT_PIT_FLTT 10
ATC_RAT_RLL_FLTD 15
ATC_RAT_RLL_FLTT 10
ATC_RAT_YAW_FLTE 1
ATC_RAT_YAW_FLTT 15
MOT_SPIN_MIN 0.25
I can try new tests and autotune according to any your advice.
@Leonardthall @andyp1per
i was flyig same kind of X8(octocopter ) loaded on AC 4.0.4.
i follewd tuning process guidelines and made flight yesterday and posted log here .
https://drive.google.com/file/d/13-qt_blPKC5pM-Z8xgOzmHc9whhHhOYp/view?usp=sharing
and also parametr file here.
2020-09-25 18-38-16.log.param (18.5 KB)
when intializly take by stablize mode ,but while takeoff my copter keep tilting leftside and taking off.
rc controls are look ok but not upto the level.
i have enabled FFT batch log for to find HNOTCH filter frequency and reviewd with MP but little confusion with withone i have to take for the HNOTCH filter frequency.
please help me with tune better for the parameter also.
thank you.
You got the logs mixed up there but clearly the best settings are:
NS_GYRO_FILTER 20
ATC_RAT_PIT_FLTD 10
ATC_RAT_PIT_FLTT 10
ATC_RAT_RLL_FLTD 10
ATC_RAT_RLL_FLTT 10
ATC_RAT_YAW_FLTE 1
ATC_RAT_YAW_FLTT 10
the ALT_HOLD_test.log
Sorry, I can’t share a log of the Callisto without permission. I can tell you that there is a lot more than just the tune that goes into achieving that level of performance. But it is a good example of what performance you can get if you get everything right.
The aircraft is sitting on the ground with a tilt of 1 to 2 degrees. What you are seeing is it trying to correct that as you are throttling up very slowly.
So the I term is building up. If you take off a little quicker you won’t have that problem. You should also make sure your aircraft is properly leveled.
INS_HNTCH_ATT,40
INS_HNTCH_BW,20
INS_HNTCH_ENABLE,1
INS_HNTCH_FREQ,31
INS_HNTCH_HMNCS,11
INS_HNTCH_MODE,1
INS_HNTCH_REF,0.33
That should sort you out.
@Leonardthall
Thank you for your valuable reply.
Yes when I increase throttle slowly it’s taking off with left-side roll tilting.yesterday I tested with likey fast throttling then it’s took off up level .thank you problem solved .if I want give slow throttle also it should takeoff level for that what should I do. If I correct that 1 or 2 degree ground tilt will that problem solved?
As you suggested hormonic notch filter setting will reduce this issue ?
Leonardthall can you suggest me with my INS_ACC_FILTER & INS_GYRO_ FILTER setting ,PID & vibration all are ok .
Every flight MOT_THR_EXPO keep changing .it’s usual?
please guide me if anything wrong .
If you want to take off slowly in Stabilize you need to put stick input equal to the aircraft’s attitude. So if it is rolled to the left you need to put stick in to match.
This does seem like something we may be able to do better… I will have to think about it.
Your vibrations look ok even without the harmonic notch. If the aircraft is handling the way you want then I would leave it the way it is. If you change those settings you need to do a retune.
MOT_THR_EXPO doesn’t change, I suspect you are getting mixed up with MOT_THST_HOVER just below it. Does that sound possible?
So would you recommend current setting ok without hormonic notch . So I don’t want to set Hormonic notch filter as you recommended.
Sorry it’s was my fault only it’s MOT_THST_HOVER.
It’s normal that it’s keep changing every flight.
@Leonardthall
Yesterday i went for waypoint flying .there was short waypoint each length is about 100m.
Took off guided mode after reached some height then I engaged to auto mode,there is 3 stretch length among this last stretch inbetween the waypoint sudden oscillation .I don’t think it’s because of wind factor.
I will post log tomorrow can you find the reason that.
thank you very much for your guidance @Leonardthall … lastly, do you have a any suggestion for my hnotch filter.
INS_HNTCH_FREQ 40.5 is correct ? or just I should increase INS_HNTCH_BW ?
because you said
also, would it work well to reduce it further below 30000 ? for example 23000
ATC_ACCEL_P_MAX 30000
ATC_ACCEL_R_MAX 30000
I would set the harmonic notch stuff.
You may get a better tune with hnotch set.
Ok then I set hnotch filter and post log here for your view.
Hi @Leonardthall . i need to new tests according to your advice as soon as possible 
can you take a look to my last question please
Hi Chris,
I can give you a faster reply if you organise all the data I need to answer a question in the post you send. Sometimes I don’t have time to go back and find it for you.
You can increase INS_HNTCH_BW to 30. (frequency * 2/3)
This depends on what you are trying to achieve or what problem you are trying to solve.
this is the log which i told inbetween the waypoint there was sudden oscilation .
https://drive.google.com/file/d/1Sr1WRXoc5_XMHW1FeJKZOqXY8YhpYLZW/view?usp=sharing
same kind of oscilation in this log when i gave RTL command.
https://drive.google.com/file/d/1IBuoeH5MQtXu_sixR44sNDafx3VKlVlJ/view?usp=sharing
parameter file for them are.
2020-09-26 15-58-00.log.param (18.5 KB)
please help me with review the log.
Hi @Leonardthall
Sorry to bother you here, as you mentioned in other thread,
The consensus is for T-Motor Flame ESCs you set MOT_THST_EXPO to 0.2 (or less!) but you should test for yourself. Nearly all other ESCs should use the default value as per the Tuning guide https://ardupilot.org/copter/docs/tuning-process-instructions.html
My system has 24 inch prop quadcopter. While landing the drone experience high oscillations. I have tried in both alt hold and RTL mode but in both, i got the same oscillations. I am attaching the link of the log file for the same. Please guide.
https://drive.google.com/file/d/1BPcCW2Ed8hsO5WJemW-0fm6hEOKChWep/view?usp=sharing
