Hi, all
When I fly my DJI S1000 with ardupilot, it’ll be hardly for me to control the OCTA-Copter(have to do roll/pitch correction for level the copter, either LOITER or ALT_HOLD) with OLD battery, but when I’m using a BRAND NEW battery, everything seems ok. So I’m suspecting that it’s related with my PIDs which is the default value, do I need to tune it? And which would be the start, throttle PID or attitude RATE PID?
Hi Roger,
It’s hard to be sure without a log but I suspect the older battery suffers from a lot of voltage sag when flying. This means the PID gains will effectively be too low. Flying with an old battery is probably not a great idea but you may be able to compensate by setting up voltage scaling as described here on the wiki.
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Tks, so kind of you, Randy. Sorry not provide the log file for it’s so big…I’ll dig this according to your suggest and feedback if getting some progress. 
S1000 on stock settings will be very unstable. Run auto tune with the new battery to get some better pid settings.