Hi,
The output of motors in my quadrotor post autotune seems to be oscillating in loiter mode. The motors were not oscillating pre-tune. Below, I’ve attached the logs. Looking for help.
Thank you, do I reduce the PID gains?
yes, you do. Start by reducing them by multiplying them with 0.8 and see if that improves.
Okay, will try and let you know.
First of all, your (throttle-based) notch is not configured to use multiple sources. This is very much undesired on multirotors.
Your roll’s D-term looks like the primary direct cause of the oscillation, I would start decreasing that one first and foremost.
Also, in the pre-tune flight, which happens to have raw gyro data, there is an unsuppressed noise peak at around 29 Hz specifically for roll. This may be the reason behind the D-term oscillation, and probably needs to be suppressed using the FILT* subsystem. The Methodic Configurator, I believe, has some guides on it, does it @amilcarlucas?
Yes, if he had used it, he wouldn’t have any of those problems.