I built a new quad. I set up the initial PID values by holding the quad and upping the rates until I got oscillation, the backing off. Once flying, it developed some oscillations, so I backed off the P and D about 15%. The quad seems to fly pretty well.
Anyhow, I finally dumped the dataflash and found the quad was actually lagging well below the requested rate in both pitch and roll. Both seem to track the requested rate, but at a lower value. If the autopilot wanted 5 D/S roll, It might only get 3.5 or 4 D/S. Strangely altitude is spot on.
The quad arms do have a bit of flex to them (large quad).
Is this normal behavior in this situation?
Should I try to tune it out.
I can try to include a screenshot if that would help.