Hello @all, 

I have currently two problems where I need tuning help in order to get autonoumous flying working. It would be great if someone could point me in the right direction:

1) Because my copter was shaking when decending I've increased my Rate_P_Roll. Not the copter doesn't shake that much - so the rate seems to be pretty ok. But this lead to the problem that now the copter doesn't take thrust commands "in time" anymore. Changing thrust now has a lead time around 0.5 - 1 seconds which is not enough. E.g. when I am landing the props stay on for 1 second when I already cut throttle. Also it isn't smooth anymore. You can basically see the steps when the power is increased. So I decreased Rate_P which makes the copter shaking again when descending ...

Have I got the possibility to tune the shaking of the copter out via other parameters beside Rate_P_Roll?

2) When my copter is turning it always rolls to one side. I guess this is because a hexa needs to power up 3 props in order to yaw (my hexa setup is X, frame is a Flyduspyder). How can I tune this out? Via Stabilize_P?  

Both problems prevent me from successfully flying missions. When the altitude in Loiter mode is lost then the copter shakes to the ground -> not good. When the copter want's to go to the next waypoint then it is being turned and removed from the current position. So it needs to get there again and the process restarts. 

Thank you!

Oliver