Y6 oscillating when YAW is applied in loiter

Hi All,

I have built Y6 copter with 3DR Pixhawk.
Running latest firmware wit default PIDs and it flies perfect in Stabilize and Alt.Hold modes.
Please let me know what settings should be checked as my copter is oscillating when turning in Loiter.
Thank you.

Please provide tlogs and/or dataflash logs to help troubleshoot your issue.

Here is my last flight log file. Hopefully I’ve done it right.

Here Is an Auto Analysis of your bin file:

Size (kb) 7525.5361328125
No of lines 101177
Duration 0:08:52
Vehicletype ArduCopter
Firmware Version V3.2.1
Firmware Hash 36b405fb
Hardware Type
Free Mem 0
Skipped Lines 0

Test: Autotune = UNKNOWN - No ATUN log data
Test: Balance/Twist = GOOD -
Test: Brownout = GOOD -
Test: Compass = GOOD - mag_field interference within limits (12.51%)
Max mag field length (579.01) > recommended (550.00)

Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = GOOD -
Test: GPS = GOOD -
Test: IMU Mismatch = FAIL - Check vibration or accelerometer calibration. (Mismatch: 2.32, WARN: 0.75, FAIL: 1.50)
Test: Parameters = GOOD -
Test: PM = FAIL - 43 slow loop lines found, max 14.03% on line 53657
Test: Pitch/Roll = GOOD -
Test: Thrust = GOOD -
Test: VCC = GOOD -

Looks like you might have an IMU issue due to excessive vibration or an accelerometer calibration issue.


Thank you so much.
Vibrations could be very true as I haven’t had any recommended vibration reduction foam.
My order should arrive soon and I will retry as soon as new foam is applied.
Thanks again.
I will report back in a couple days.