Drone is circling around the setpoint


While testing the flight stability of my drone, I noticed that it is constantly circling around the current position point.
Also, you can see in the graph that the estimated XY value deviates from the setpoint value sinusoidally.

I am also adding the log file:
Flight Review - Quadrotor (px4.io)

I would be very pleased about any help!

It seems like you are using a higher PID gain than the default for the multirotors. Have you already gone through the Multirotor tuning guide? Following that process should remove those circling behaviors:

I also suspected it could be the “toilet bowling” effect which can happen with badly calibrated magnetometer, but the sensor data itself seemed pretty sane.

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