Pid oscillations

ArduCopter
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1

Good day everyone, the materials I use for the drone I built for hobby purposes.
1-) frame https://tr.aliexpress.com/item/32952518324.html?gatewayAdapt=glo2tur
2-)rotor Readytosky 2212 920KV Brushless Motor, 1200 RPM at Rs 649 in Ahmedabad
3-)propeller 2 Pairs 9 inch 9443 Self-Tightening Propeller Prop for DJI Phantom 2 Vision +
4-)esc https://tr.aliexpress.com/item/1005001854409916.html
5-)4s lipo battery
6-)autopilot Pixhawk 4 – Holybro Store

I applied all the settings required for the flight by following the link “How to methodically tune (almost) any multicopter using ArduCopter 4.4.x”
I share the bin file after autotune
I also tried manual adjustments but my pid values are not good
I couldn’t improve my attitude graph. What is the source of the oscillations in the graph?
What is my problem?
.bin file

2

Hello Ari11, welcome to the community,

if you have used the ArduPilot Methodic Configurator, post the .zip file of the intermediate parameter files.
The software automatically creates it if you finish all the configuration steps. Don’t worry there are some steps you can skip.

3

I did not use ArduPilot Methodic Configurator. To understand better, I opened the parameters with note pad and changed them manually in the full parameter list.
Can you please review my .bin file for me? Why are my attitude controls bad?

4

1
11366×720 44.4 KB

2
21366×715 30.4 KB

Why are attitudes like this?

5

post a .zip file with the notepad edited *.param files.

6

drone.zip (5.3 KB)

7

Please post the notepad edited files. Not a single file.