PID Quadcopter - Possible improvements

Good morning friends,
after various adjustments and tests I found this setup of my IMU. I would like to ask you if further improvement is possible. The quadcopter is stable even when I move the sticks deeply but has some slight wobble. Do you have any advice for me?

My setup is:
Frame: 680mm
Type: quadcopter
Motors: 340kv
Propellers: 1755
Battery: 2x (4s 6000Mah)
Arducopter v.: 4.1.2

@dkemxr @smartdave @xfacta

Thank you all for your availability

LOG

Set these and do another test flight in ALTHOLD mode, just do some hovering for at least a minute and then some gentle manoeuvres. Let’s see that .bin log file.

ATC_ACCEL_Y_MAX,15000
ATC_INPUT_TC,0.2
ATC_RAT_PIT_FLTD,13.5
ATC_RAT_PIT_FLTT,13.5
ATC_RAT_RLL_D,0.008
ATC_RAT_RLL_FLTD,13.5
ATC_RAT_RLL_FLTT,13.5
ATC_RAT_YAW_FLTE,2
ATC_RAT_YAW_FLTT,13.5
ATC_THR_MIX_MAN,0.1
ATC_THR_MIX_MAN,0.5
BATT_ARM_VOLT,14.70
BATT_CRT_VOLT,14.00
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
BATT_LOW_VOLT,14.40
INS_GYRO_FILTER,27
INS_HNTCH_ATT,40
INS_HNTCH_BW,25
INS_HNTCH_ENABLE,1 ← set this then refresh to see more INS_HNOTCH params
INS_HNTCH_FREQ,50
INS_HNTCH_MODE,1
INS_HNTCH_REF,0 ← leave this at 0 till after the next flight and we check FFT
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,0
MOT_BAT_VOLT_MAX,16.80
MOT_BAT_VOLT_MIN,13.20
MOT_THST_EXPO,0.72
PSC_ACCZ_I,0.88
PSC_ACCZ_P,0.44

Thank’s for you reply @xfacta :slight_smile:
I will change the parameters you indicated and try to see how it goes.
But in your parameter list how come you list me twice the same but with different values?
ATC_THR_MIX_MAN,0.1
ATC_THR_MIX_MAN,0.5
Should I try first with one value (0.1) and then with the other (0.5)?
Thank you

sorry a copy/paste mistake there, use the 0.5 value

Hi @xfacta,
i attach my log. There is a little wind today.
My first impression is that the behavior is a bit shaky.
What do you think about it?
Thank’s Shawn

Log

Do you use T-Motor Flame ESCs?

Yes that does seem more wobbly, but if you compare the attitude control between logs over the same timescale, say 30 seconds of flight, the attitude control is kind of similar.
The first log has rapid movements that are probably a bit harder to see with the naked eye.

If you were happy that the wobbliness is not too bad, you could run Autotune and see how it comes up.
Maybe even reduce Autotune aggressiveness and then do a seconds session with default 0.1
AUTOTUNE_AGGR,0.05

You can safely set these for the Harmonic Notch Filter
INS_HNTCH_FREQ,46
INS_HNTCH_REF,0.46
INS_LOG_BAT_OPT,2
watch the decimal places and digits there!

Good morning Shawn @xfacta
my esc is Hobbywing Xrotor Pro 40A, i purchased its why the quality is good i think.
I will try to make the changes you asked me by first trying a constrained take-off on the test bench to see any nervous or uncontrollable reactions.
Thank you

OK, I would set these then do the semi-automatic ESC calibration, then hover in ALTHOLD for a while to make sure the MOT_THST_HOVER is learned.
After that check INS_HNTCH_REF is not higher than MOT_THST_HOVER → it should be about the same or a fraction lower.

MOT_PWM_MAX,2000
MOT_PWM_MIN,1000

https://ardupilot.org/copter/docs/esc-calibration.html#semi-automatic-esc-by-esc-calibration