we have mastered the tail shape drone nicely with P (4.5) and PID 0.17, 0.12 and little D 0.011 for both pitch and roll. In althold it works fine. However with the Loiter it starts to oscillate in roll first a bit and then more virulently to 35 degrees and cannot be corrected. The values for Loiter I tried are many:
P=2 PID 0.2, 0.1, 0
then
P=2 PID 0.3, 0.15, 0
P=2 PID 0.3, 0.3, 0
P=2 PID 0.5, 0.5, 0
P=2 PID 0.5, 0.5, 0
P=2 PID 0. 17, 0.125, 0
P=2 PID 0.2, 0.06, 0
P=2 PID 0.2, 0.3, 0
P=2 PID 0.2, 0.02, 0
P=2 PID 1.5, 0.5, 0
All these do not have a stabilizing influence on this role oscillation with a frequency of approx 1 cycle per second: it is as if the copter is at the outer rotors in this roll so fastly moving that the props lose grip on the air. There are slight differences, but questionable if real in the short effort. Wind is a 3 m/s not more.
Understand that Loiter settings are no way similar in values as in alt mode, but need a solution for loiter
We cannot afford to have such effect, so what to do?? Is there no way to convert Althold settings to Loiter or to see the effect on frequency of oscillation? hope to hear Win