The tuning is reasonable, (attitude versus desired attitude), especially considering PIDs are at defaults. This is how multirotors should be, and those that wont fly and wobble uncontrollably likely have hardware issues or mismatched components. Very small quads are bit of an exception, but that’s another story.
I would choose different filter values as per this sheet, but yours will work OK too.
Ideally you’d set up the Harmonic Notch filter too, I’ll put the steps down below.
And then run Autotune again. That might fix these little tiny wobbles you have in attitude
There’s also a slight weight imbalance you can see in this graph
Motors 1,4,6 working a bit harder.
Since you’ve got a reasonable sized aircraft, I’d definitely set these for safety:
FENCE_ALT_MAX,70 <-adjust to suit local conditions
FENCE_RADIUS,200 <-adjust to suit local conditions
This will have the side effect of making you wait for a good 3D fix and home position can be set.
Also try setting
or use 67 if you have SBAS available.
The reasoning is too many constellations (and sats) can slow down the GPS update rate. I’ve seen better performance just using the constellations that suit your region.
EDIT: I meant to say, you’ve also got some X and Y axis vibrations, mostly Y axis, which normally indicates prop balance. Z axis was good.
HNOTCH phase 1
- hover test >1 minute, check FFT
HNOTCH phase 2
INS_HNTCH_ENABLE,1 <- set this then refresh params to see the rest
INS_HNTCH_FREQ, peak freq from FFT
INS_HNTCH_BW, peak_freq / 2
- hover & dynamic test >1 minute, check FFT results
HNOTCH phase 3
- no extra logging, assumes HNOTCH is working great
Let us know if you need any help with that.