Hello, I am new to helicopter field and my helicopter size 800. I am trying to perform tuning operations using Arducopter documentation. ATT.Pitch and PID.P Target and Actual values do not seem compatible in my flight logs. Harmonic notch filter significantly corrected the outputs, but these values did not match. I am sharing the flight log and waiting for your advice.
Change your harmonic notch filter’s center/fundamental frequency from 11Hz to 21.6Hz since your rotor is running approximately at 1300Hz as seen from accelerometer FFT data.
This would significantly reduce the noise in the rate control loops. Your vibrations seem to be under the limit so it is safe to say neither major off-track nor any imbalance in the system.