I got always the same problem with my 800 frame on many versions of arducopter (3.5.x, 3.6.X), now the same with 3.6.9.
When loaded copter with default PIDs it flies sluggish but mottors runs smooth. After autotune I got these PIDs:
And with these PIDs maneuvers are cool but mottors wobbles a lot. I guess some param is overshoot but don’t know which one.
Would somebody advice me please, which parameter should I lower?
Here is log file from short flying:
2019-08-12 10-39-04.zip (476.5 KB)