Oscillations induced in the dron by a heavy camera mounted on a big gimbal

[xfacta (Shawn)]

Check this thread. Have you tried changing the ATC_ACCEL_x_MAX params to suit the new payload?
It could be something else, but that would be my first guess.

Is it best to AutoTune with or without payload?

Is Autotuning without payload then changing ATC_ACCEL_X_MAX using the below formular for a new payload as good as Autotuning with the new payload? New ATC_ACCEL_P_MAX = ATC_ACCEL_P_MAX x (min_TOW / max_TOW) New ATC_ACCEL_R_MAX = ATC_ACCEL_R_MAX x (min_TOW / max_TOW) New ATC_ACCEL_Y_MAX = ATC_ACCEL_Y_MAX x (min_TOW / max_TOW) ATC_ACCEL_X_MAX seems to relate to prop size so wouldn’t Autotuning the same machine at different weights result in different tuning parameters e.g., PIDs etc?