So far I think we have a pretty decent P terms in all the loop control: actual angles follows pretty closely target angles, action is quick, and there is no overshoot (am I right, no?). However, I would like to remove these tiny oscillation highlighted below.
First of all, what is the root cause of it? First thought it is maybe cause by gyro noise, but we have already settled a Dynamic Notch filter, and most of the noise caused by the motors is already removed. Second thought it is maybe caused by an improper D Term, however as I said, overshoot is pretty much already controlled…
So guys, what would you advise me to try? Modifying filters? Increasing or Reducing D Terms? I am looking forward to hear your advises.
PS: Is there any place in the wiki doc where it is explained how to diagnose tune issues from the logs?
Looking at the 0kg log…
Pitch and Roll attitude control is quite reasonable, but yaw is terrible
Motor3 output is generally higher than the rest and sometimes going near maximum. Motor2 is usually lower than the rest, indicating a weight imbalance. This might be OK if your payload fixes that, but overall you might be a bit underpowered.
Compass ordering is wrong I think. Compass 1 and 2 are working OK and Compass 3 is affected by current draw/throttle. Check which compasses really are external and which should be enabled. This might help the yaw issues quite a bit.