Hi Mr Swawn,

Thanks for all your help and the settings.

I did some test flights today and their results were very encouraging!!!

I performed a total of 3 flights and their log files are shown below:

In this flight, I used all your parameter settings. The copter was quite stable in Stabilize and Althold flight modes. In Loiter mode, I think that the aircraft behaviour was a bit strange, but quite safe.

In this flight, I used your parameter settings, except:

INS_HNTCH_FREQ =100 (= FFT_FREQ_HOVER for my aircraft)

INS_HNTCH_BW=50

INS_HNTCH_REF=0.3 (percentage of throttle required for my aircraft hovering)

The aircraft behaviour was similar to the previous case.

Finally, in this flight, I used your parameter settings, except:

FFT_ENABLE=1

FFT_FREQ_HOVER=100

FFT_BW_HOVER=40

FFT_ATT_REF=15

FFT_HMNC_FIT=10

FFT_HMNC_PEAK=0

FFT_MAXHZ=300

FFT_MINHZ=25

FFT_NUM_FRAMES=0

FFT_SAMPLE_MODE=0

FFT_SNR_REF=20

FFT_THR_REF=0.35

FFT_WINDOW_OLAP=0.75

FFT_WINDOW_SIZE=256

INS_HNTCH_ENABLE=INS_HNTC2_ENABLE=1

INS_HNTCH_FREQ=INS_HNTC2_FREQ=100

INS_HNTCH_BW=INS_HNTC2_BW=50

INS_HNTCH_MODE=INS_HNTC2_MODE=4 (FFT setup)

INS_HNTCH_FM_RAT=INS_HNTC2_FM_RAT=1

INS_HNTCH_REF=INS_HNTC2_REF=1

In this case the aircraft could not take off safely, due to high oscillations.