Hey there everyone!
We're flying a quadcopter in the standard X configuration with a pixhawk cube on the latest PX4 stable release (1.8).
One of my colleagues ran into an issue where our vehicle was quite stable when rolling along the main vehicle axis (two motors pitching at the same time).
However, we see it go fairly unstable if the vehicles pitches along an arm (one motor pitching down alone).
Which, if any, gains would impact the roll characteristics of the 1&3 or 2&4 rotor pairs such that we can stabilize that mode more directly?