Having some problems with the initial tune of a 5 inch quad.
I’m having oscillations / twitchiness and if I lower the ATR_RAT_PLL/PIT P,I,D’s eventually it starts almost toilet bowling on any pitch / roll input.
5 Inch quad, 2207 1850KV motors and a 6S LiIon cell.
Most likely because the Vertical Controller acceleration gains are at default.
Try this:
PSC_ACCZ_I, 0.16
PSC_ACCZ_P, 0.08
Reference for this, page down to Test AltHold Initial Tune
Note-Your hover throttle is lower than what shows as MOT_THST_HOVER. Perform simple hover and review the log CTUN>THo field for what it really is.
You need to lower your vibration levels.