Hi all, I’m working on a ducted fan multirotor, and I’m experiencing yaw oscillation (tail wagging) during hover and flight. The issue seems more noticeable at high speeds or when hovering. Here are some details: Platform: 2-inch ducted props, X configuration Firmware: PX4 v1.14.3 Controller: [M…

I have found this, but don’t know why? [图片]

As you can see from the yaw angular rate graph, the yaw rate integral keeps increasing over time. As a result, motor outputs are diverging in pairs — motors 1 and 2 versus 3 and 4. This indicates that the propellers may not be generating enough force for yaw control. Alternatively, it could be that …

@realstone1 Thanks for the analysis. I’ve modified the frame, raised the propeller plane, and increased the inward tilt angle. Please help me check whether this is a yaw PID parameter issue, or if there’s still something else wrong. Flight Review

[Screenshot from 2025-08-04 08-04-20] Hi, QMC5883L has not work.

there is no mag chip on board (no gps no other mag chip, maybe just default firmware settings). I think it will no affect the yaw if there is no mag.

It seems that your efforts have been effective — the divergence in motor outputs has decreased. The vibration levels also don’t appear to be a significant issue. It looks like the remaining problem is related to gain tuning of the rate controller.

[image] realstone1: It looks like the remaining problem is related to gain tuning of the rate controller. Well, I don’t have much experience on rate controller tunning. Currently, it’s P=0.4 I=0.4 FF=0.15 on yaw I reset back to default settings, which is P=2.8 I=0.1 FF=0, it’s not working. …

Ducted Fan Drone Yaw Oscillation Issue - PX4 Log Attached

PX4 Autopilot

lida2003 August 1, 2025, 1:01am 2

I have found this, but don’t know why?

PX4 micro-sd log abnormal

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Inquiry about "Actuator Control FFT" and "Angular Velocity FFT" in PX4 Flight Log PX4 Autopilot	19	461	June 2, 2025
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Extreme Gyro Noise in Yaw Pixhawk	9	1446	January 19, 2023
Uncommanded Yaw during Acceleration and Deceleration v1.14	4	145	August 13, 2024
Symmetrical 8 kg payload co-axial octacopter UAV - Problems with yaw PX4 Autopilot	5	66	September 29, 2025

Ducted Fan Drone Yaw Oscillation Issue - PX4 Log Attached

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