I think you have a 3S Lipo, so you need to set these:
BATT_ARM_VOLT,11.00
BATT_CRT_VOLT,10.50
BATT_LOW_VOLT,10.80
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
MOT_BAT_VOLT_MAX,12.60
MOT_BAT_VOLT_MIN,9.90
They are really mandatory, not optional. Don’t skip any.
If you have a different battery type then please provide that detail.
Since everything is not configured consistently, I guess you have about 14inch props, so set:
INS_GYRO_FILTER,30
and this will be near enough. There are other related parameters that should have been set - you should have used AMC, or at least Initial Parameters in MissionPlanner, to start setting up this copter.
(NOTE TO SELF: fix Initial Parameters to suit version 4.7+)
Unless you have T-Motor Alpha or Flames ESCs then you probably dont need any *_SMAX parameters set to non-zero. Put them all back to 0 unless you know your ESCs have a hard time responding, or if your copter is very large (which I doubt).
Set ATC_THR_MIX_MAN,0.5 since vibrations dont appear to be an issue.
Set ATC_INPUT_TC,0.15 to fix RC input response and suit v4.7.
Turn off the FFT, it’s not needed: FFT_ENABLE,0 and set up the harmonic notch filter so it works, and with some safer values (since there’s no data to check it):
INS_HNTCH_BW,10
INS_HNTCH_FM_RAT,1
INS_HNTCH_FREQ,60
INS_HNTCH_OPTS,2
INS_HNTCH_REF,1 <- this was 0
It may be that the harmonic notch filter is not even required, a log with data could be helpful.
Now set these to adjust the yaw response:
ATC_RATE_WPY_MAX,30 <- probably Ok for missions
PILOT_Y_RATE,60 <- can be higher if required
Before you head out flying again expecting those things to make a big difference, the next step is to set AUTOTUNE_AGGR,0.1 and run autotune on pitch and roll.
You may want to reduce the new ATC_ACC_P_MAX and ATC_ACC_R_MAX values by 10% after that autotune.
Do yaw autotune if you feel it’s required after you’ve tested pitch and roll.
Let’s see a log of a test flight after autotune.
EDIT:
My reasoning is there is poor configuration and tuning, before we start changing advanced parameters (which may not be the real problem) let’s get the copter flying as it should, then tackle whatever issues are left over.
I just want it to fly inside the gimbal’s envelope, these oscillations are sometimes too big for what this gimbal can take (mostly around turns, usually fine when flying straight or ligthly curved fragments). But this is not necessarily specific to DJI, all the other gimbals behave simillarily.
