Very nice out today, going for another Autotune with the Settings listed from 10-Feb-2019. However I will use D-Shot 600 instead of 1-Shot 330 Hz. Reason being that 1-Shot exhibited some behavior on the bench that I didn’t like and if it ever does this in flight my copter will become a dirt dart.
The flight today was a godawful mess due to oscillations that started at take off and persisted through the entire flight regardless of orientation or flight mode. Soon discovered that the Yaw D-Term wasn’t Zero’d… Guess I forgot to reset it. Will try again tomorrow and if this is still an issue fly with just the Yaw defaulted to 15/15 or 10/10. Just enough to make the Yaw functional but not so much that it may fight with the Roll.
This morning was really nice so I took to the sky’s again using the Autotune levels shown above and the Yaw level set to 15/15/0. Unfortunately the constant shimmy is still there and thus I will try Zero’ing Pitch D-Terms next flight.