Better PID for Heavy Lift Drone

PX4 Autopilot
1

Thank you to everyone who helped provide feedback the last time I tried to fly a heavy lift quad (see linked post at the end of this one). The PID settings have been adjusted and I finally got a new frame assembled (last one was wrecked pretty badly after the crash).

Here are the log files from the last two flights yesterday. There are still a bit of oscillations going on. So the PID has been made close enough for safe flights, but I desire to bring it in a bit tighter. I’m open to any suggestions. Here are the two flight logs:

Stabilized mode flight: https://logs.px4.io/plot_app?log=8bf2e4fc-1e00-4a1b-9906-bb2d7ef04d8d

Altitude mode flight: https://logs.px4.io/plot_app?log=f3ac04a8-5fc5-49ed-806b-3434a3997ad1

Current non-default PID settings:
MC_PITCHRATE_D = 0.002
MC_PITCHRATE_I = 0.1
MC_PITCHRATE_P = 0.12
MC_PITCH = 2.5
MC_ROLLRATE_I = 0.12
MC_ROLLRATE_P = 0.16
MC_ROLL = 2.5
MC_YAWRATE_P = 0.12

2

To help with pid tuning and analysis you should enable high rate logging and perform flights which have enough setpoint and response to evaluate the tune.

I would recommend go through the steps outlined in this px4 tuning guide carefully first and then post some logs if you keep having problems.

The logs you’ve attached are just hover logs.

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