Aggressive wobble in position mode

PX4 Autopilot Multicopter 🛸
1

Hi. I have been getting aggressive wobble in my quad. The drone wobbles diagonally. I am flying in Position mode. The quad flew fine for couple of minutes with good position fix and good response to the controls but then started to wobble.

Setup:
Pixhawk 6X
Two M8N u-blox GPS
Firmware: PX4 v1.13.3

I am not able to figure out where I am going wrong. I flew this quad a few months back with a single M8N attached to it and it used to be really stable. Maybe there’s something wrong with the dual GPS but I doubt that as I have followed the setup provided by PX4.

I am attaching the log and the video link of the flight. I am looking forward to your responses. Your help will be really appreciated.

Log: https://logs.px4.io/plot_app?log=1521e129-d608-414c-a4e0-a3e80f5eb8de
Video: VID_20230914_180218731.mp4 - Google Drive

2

Hi,

from the log file, you can see the difference between the estimated position and setpoint “peaks”. This same applies to the other axes as well.

2023-10-02 09_47_32-Flight Review - Quadrotor
2023-10-02 09_47_32-Flight Review - Quadrotor1531Ă—679 61.8 KB

Since there is no accel clipping, the vibration should not be a problem.
I think you need to tune the PID.

Best regards,