Indoor position controller tuning

[guglie]

Many thanks @Leonardthall!

I’ve replied about the yaw (or maybe we can say attitude) problem in the dedicated thread:

Loiter yaw problem

Hi, I’m using a motion capture system and mavros to send position to arducopter. During loiter tuning (Indoor position controller tuning) I’ve seen a strange behaviour, when the copter is turned on yaw it flies in the “opposite direction” and then comes back in position, can this be related to some kind of sensor offset? @rmackay9 said on a previous video: I think the yaw estimate is off. I suspect you can see this if you just walk the vehicle around. I think you’ll probably find that if yo…

Here I’m trying to understand which parameters I have to tune to have a fast controller response without overshoot and oscillations. I’m curious to see if resolving the attitude problems also fixes the oscillations on the target position. I’ll get back with new results here if someone encounters the same problem.