I need some help in optimizing the hovering performance of a quadrocopter.
Weight 2,7 Kg,
Hardware: 4x T-motor antigravity MN4006-23 380Kv with 16" props. Cube Black, Here2, 2x Benewake TF-Mini, Hereflow or Canflow. Software: Arducopter 4.0.3.
On roll you can see slight twitches, in PosHold or Loiter the behaviour is more noticeable than in Stabilize and AltHold.
Autotune has been executed several times, the result is always the same on nick, on roll the values are different. I attach 3 log files, one of them with default parameters.I would also be willing to pay for a solution if someone can help me!
If you are going to link more than one log file describe each one otherwise we have to look at them all. Which one is NOT default parameters.
Sorry here the contents:
2020-03-25 17-28-12
with default PIDs and HereFlow active
2020-03-25 16-43-27
with autotune PIDs and HereFlow active
2020-03-25 17-11-00
with autotune PIDs and HereFlow disabled
to get an idea how the vehicle looks like:
the center of gravity / weight distribution resembles more a helicopter, therefore different PID values on aileron and elevator are quite plausible.
You are right that the Tune on Roll is poor. You could try lowering aggression (0.05 maybe) and re-run just the roll axis. Or put Rate Roll kP on Chan 6 for in-flight manual tuning.