Hex drifting in roll in Loiter after Autotune

ArduCopter Copter 4.6
1

I’m hoping someone can point me in the right direction with this as I’m somewhat confused.

I recently upgraded from 4.5.7 to 4.6.2, and did an autotoune as the drone felt a bit sluggish after previous update from 4.2 to 4.5.7.

Initially I set AUTOTUNE_AGGR to 0.065 to ensure the tune completed succesfully. Once this completed I landed to save the new params.

Initial tuning flight log

I then swapped to a new battery, and took off to test the new tune. When in loiter mode I discovered that I in a purely straight ahead command the drone would appear to roll to the left. Switching back to Alt Hold this didn’t appear to be an issue.

I then did a second AutoTune using AUTOTUNE_AGGR set to 0.075 as I though the issue may be down to a bad tune, but after the second tune I seemed to still have the same issue.

Second tune log

Short test

I’m a bit stumped at the moment what could be causing the drift when I should be going straight ahead, especially as this has been flying fine pre update and re-tune, so is anyone can point me in the right direction on what I have missed that would be greatly appreciated.

2

Tune logs are not that useful and your short test log had the battery down to <8v and the throttle and RC outputs are close to max. Start with a fully charged battery and make another flight. Unless the battery is scrap from over discharging it. And while you are doing that configure to collect data so you can configure a notch filter by setting INS_RAW_LOG_OPT,9 That should have been done before any Auto Tune.

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