LPE Feedback @PKocmoud Can you try to lower the MPC_VEL_P gain significantly and if that does not help, reduce the MPC_POS_P (try both independently)? It looks like your controller is unstable. I’m not sure yet why. But its certainly worth trying.
Using the LOCAL_POSITION_ESTIMATOR I have changed MPC_Z_P from 1.0 to 0.2 and it helped a lot !!! It is in fact perfect now !!!
But any time I set MPC_Z_P to 0.2 it seems to get reset to default 1.0 when board is restarted or when parameters get saved to file.
Yes, this is my understanding, too.
But lately it seemed, that after rebooting the board the value was set to default. Therefore the default value was adapted by abovementioned workaround.
Actually, now I think it was an issue due to changing the value by WLAN and therefore not storing this value correctly. If I change the value via USB-cable it seems to remain in memory as it’s supposed to do.