Did a quick tuning today on half-full battery.
D gain tuning went well....Do you have some kind of vision? Oscillation showed up at exactly 0.003! Although in a safe level.
I gain tuning went almost as well....I start with somewhere around 0.2 when it tried to rip itself apart, vibrating awfully on the ground. At first I thought something got loose but while inspecting ( servos powered), I saw swash plates off level.
When I turned knob to minimum (kI ~ 0), servos went doing tick-tock. I knew right away that there is something with I term. Set ATC_RAT_XXX_ILMI back to 0 and everything is fine again.
Turned I gain up to 0.8 without any problem.
Still not hovering perfectly, the heli tends to twitch a little when wind blows. Probably a little too high P
What does ATC_RAT_XXX_ILMI do exactly?