I am tuning PID parameters on a very large quadcopter and having issues with oscillations in stabilize. I have solved my vibration problems, but it is still a rather flexible frame which would allow low frequency vibration on the arms of the frame which support the motor.
Because it is barely flyable currently I can’t easily tune the parameters by trial and error, and autotune is out of the question at this point. Which direction should I adjust my parameters to try to reduce the oscillations I’m seeing?
I have checked the pitch rate versus desired pitch rate (PDes vs. P) and can see the pitch follows the desired pitch (although with a considerable delay). Is it possible I can reduce my oscillation simply by reducing the P term for stabilize?
log file of my flight and parameters