Something I have seen with my two copters. (900mm quad & 1600mm hex) is they often fail to stop smoothly when I center my sticks. Normally they will smoothly kill about 80% of the momentum of the drone. It seems as if the drone figures out a second later that its still moving laterally and then will twitch a bit more aggressively to finish out the stop. This is normally fine and has never caused a crash or anything, but I would like help understanding whats going on here.
In most of these cases, Desired Roll/Pitch seems to be tracked by actual Roll/Pitch as well. It doesn’t seem to be a rate tuning issue to me anyways.
I can post logs if you aren’t familiar with what I am describing. I wonder if changing LOIT_BRK_ACCEL would help or LOIT_BRK_JERK. I am largely just curious here.
Anyways, let me know if you’ve seen the same thing before!