okay. i will do another flight test at friday. i will share the results.
Hi again @dkemxr and @mike_tk I performed two more test flights today with new PID values. P/I 0.2 and D 0.08
it flew much more stable than before. There were no issues, except for accidentally switching to Loiter mode instead of AltHold 
Thankfully, I didnât encounter any problems. The notch filter was off on both flights. mot_hover parameter learned. i set the PSC_ACCZ_I and PSC_ACCZ_P parameters too.
I did not move the drone at all while in loiter mode. But I had to move it occasionally while in althold mode. There was very little wind.
Nice work, itâs looking pretty good! The vibration levels are higher than desirable but based on what we know of the craft itâs not clear what you could do to reduce them.No clipping though.
You could give this Notch Filter configuration a try. I would suggest another review after setting it before a Quick Tune or Auto Tune attempt.
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I think I can solve the vibration level. Balancing the propellers isnât possible, but solving it mechanically shouldnât be difficult.
thanks for filter settings. i will try asap. if it works, can i do quicktune with default quicktune parameters?
âŚâŚâŚâŚ.
Yes.
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I recommend reviewing your compass location and adding current monitoring, than do magfit. It will improve althold/loiter stability and avoid yaw rotation of the craft on takeoff. PIDs looks better now but need fast attitude logging in LOG_BITMASK to see itâs performance.
AFAIK X11 PLUS supports throttle over CAN and feedback the RPM via CAN too, itâs preferred to have and will allow much more precise filtering.
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sure. i will do MAGfit. i will record fast attitude too.
i know x11 plus support droneCAN but i couldnt find datalink box or 1.25mm gh socket for canhub. i dont wanna wait more. but when they arrived, i will use.
You donât need datalink, CAN connection from FC is enough.
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@mike_tk AFAIK the X11 need a datalink and will not just work with droneCAN. Have you tested them?
I havenât seen anyone do this before without a datalink.
Not tried exactly with X11 plus but there is a reference on hobbywing website to use ardupilot
datalink must be used for firmware upgrade
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@mike_tk @dkemxr is the AUTOTUNE_AGGR 0.1 too much for this hexa? i will try new filter settings and i will do quicktune today. if everything goes well, i will do autotune and MAGfit calibration too. But I couldnât decide whether to set AUTOTUNE_AGGR to 0.075 or 0.05.
I would start with 0.05, IMO you donât need the craft tuned to the edge of accelerations. Quicktune is also is an option, it should give you right balance of P/D
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@wampelt continue doing the AMC steps one-by-one. They already show you the correct sequence of steps. AGGR = 0.07 should give excellent results.
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I would leave it at default 0.075 (OK, or 0.07). In many cases, and you will find them on the forum, a lower value will drop the ATC_ANG_P/R_P term too low producing a slug of a craft. I think it will set you back with a lower value.