F450 Quad - need some tuning help


I’m trying to find some guidance on how to tune out the behaviour I’m seeing on my new build. The PX4 docs seem to be a little unfinished, any advice? This is my first Quad build with PX4, I’ve been a fixed wing user for a couple years.

I figured a video was the easiest way to describe it.

Looks similar to my 500 when I first set it up. The pid gains applied were incorrect and made it twitchy. If you haven’t already you may try going into settings>parameters>multicopter attitude control and adjusting MC_PITCHRATE_P, MC_PITCHRATE_I and MC_PITCHRATE_D. These are the inner loop pid gains for pitch. I think somewhere I read for 450 size that 0.1/0.01/0.01 were good to start. There is also MC_PITCH_P for outer loop and mine ended up somewhere between 3 and 4 I think. Click on the parameter value and on the right a menu will open. Type new value in box and save. Similar for roll and yaw. No autotune feature for PX4 yet. If you find you have to go so low it gets sloppy handling then it probably is vibes causing it to twitch.