Hello, I have an issue on a quadcopter that is showing when flying in acro mode or stabilised. I made the last test flight only on acro mode and I have the video of it as well. The drone makes a sudden movement, jerk, twitch when I try to turn. I have tried a lot of different things. I think it is well tuned in general, I have set the harmonic notch filter through ESC telemetry, the motors are new, the FC is soft mounted with the provided silicon dampeners. I am using the Matek H743 slim V3 flight controller, I have an 8s battery with AOS supernova 2207, 1570 KV motors and Voltara 70 A ESC.
I am posting some screenshots from the log and the piece of the video:
where you can see this strange movement. Any suggestion would be greatly appreciated.
Similarity I’m having a similar problem, I’ve collected a new drone I’m not sure if it’s related to version 4.7, but there’s a sideways lying in the yaw command. I did autotune, but I did it for yaw d. I need to reset pid d for yaw and try it.
My research suggests the problem stems from the LOIT_OPTIONS = 1 parameter added in version 4.7. I haven’t tested it yet, but it seems to be the source of the issue.
Yes, that’s Loiter’s coordinated turns feature added in 4.7.0. As you’ve found, it can be disabled using the LOIT_OPTIONS parameter. Please consider giving it a try though, we think most people like it once they get use to it.
