You can safely set these and there might be a slight improvement to stability
Improve the logging without going crazy:
and set your battery failsafe actions
These look suspect, anything special reason for these values?
I think these would be more like all T-Motors other gear
MOT_THST_EXPO,0.4 ← reports of this being a good value for the integrated motor/ESC combos
And you will definitely have to redo these using the MissionPlanner motor test after changing those MOT_ settings listed above:
MOT_SPIN_ARM,0.15 ← probably about 0.10
MOT_SPIN_MIN,0.23 ← probably about 0.13 to 0.15
And MOT_THST_HOVER will need some time in ALTHOLD mode to relearn after all those changes.
There’s bit of a mess of frequencies there. I think you can trim down all your HNOTCH settings to these:
INS_HNTCH_REF,0.20 ← start with this
INS_LOG_BAT_OPT,4 ← my new favourite
INS_HNTCH_REF can be checked against MOT_THST_HOVER later, the new value should be about 0.7 x MOT_THST_HOVER.
For example if MOT_THST_HOVER is 0.25 then INS_HNTCH_REF = 0.7 x 0.25 = 0.175
This is a bit rough but can be refined later.
The real formula is
INS_HNTCH_REF = hover_thrust * (min_freq / hover_freq)^2
I always set an RC channel to Emergency Stop, especially with these big expensive/dangerous props.
Do a test flight in AltHold with mostly just hover and some gentle movements, see how that goes.
Obviously if there’s oscillations or any bad instability land immediately.
If everything is OK then try some Loiter too.
Let’s see that .bin log file