Thank you for the info! Its good to know the cause of the erratic behavior at the tail end of that flight was caused by ESC de-sync. Although its quite irritating that these ESC’s would be doing that, I mean I’m running 80A ESC’s with motors that pull max 45A. Not to mention they have less than 5 hours them. I am very worried about putting the significant payload I wanted to (15lbs) under the build at this point because of the sudden loss in stability caused by the de-syncing.
I’m reading up on harmonic notch filtering (thank you for pointing in that direction) to hopefully remedy the de-syncing. I found this thread that has good information What should I use for ATC_RAT_PIT_FLT* values?
In addition from what I have read so far it seems like vibration and “interference” can cause an aircraft to rock back and forth diagonally during autotune, (still not totally clear what what interference is exactly in the context of the filters that are meant to reduce it)
I hope to not have to change out the ESC’s because of the chunk of change put down on them, but at the end of the day if its what has to happen to make this build reliably stable its what has to happen. Any advice on brands that are more reliable worst comes to worst?