Ok, so need some assistance with tuning yaw - see the attached vid (you won't need to watch more than a minute or two to see the problem. You can ignore the pitch issues which I'm addressing via the gimbal PID's.
Basically, I can't get the damned thing to fly straight without the nose bouncing around. Speed doesn't seem to matter - loiter or high speed, the bouncing is the same.
But it appears yaw can't be tuned the same way as pitch and roll - I've tried:
- detuning P (to 0.1)
- uptuning P (to 0.35)
and various settings inbetween.
I've also tried combining it with Stab Yaw as well - from as low as 4.5 to 9.5. And tried doing some I tuning, but it didn't really seem to have any effect.
If I detune it, it just bounces left/right slower, and has a lot of overshoot. If I tune it up, it bounces less, but more more quickly.
Where should I be tuning? Should I even look at D to control the overshoot?
I redid the compass calibration at the field before I shot this video. Compassmot is 9%, and I have tried running with and without it enabled, and it makes no difference. All motors are perfectly aligned, and seem to be running normally. Running APM2.6 and 3.1.5