@Hs293Go and @Romain_Chiappinelli I just did a test flight to check if cutting my MC_{ROLL, PITCH}RATE_D to half their tuned values helped with my rapid low amplitude oscillations. I also did a flight with originally tuned PID values, but with MCP_XY_VEL_D_ACC set to 0.1. The results are below. Changing my _D parameters didn’t seem to fix the roll and pitch setpoint oscillations, which I think is what has been causing the shimmy (high frequency low amplitude oscillations) in flight. Decreasing the MCP_XY_VEL_D_ACC term however did seem to help decrease the oscillations that I saw in flight with pitch and roll oscillations, but the log files look similar in terms of pitch and roll setpoint oscillations. The Actuator Control FFT results look very similar to the control flight.
Control Flight (baseline after auto tuning): https://review.px4.io/plot_app?log=c4f5e476-7b24-47db-b5d0-92a268836278
MC_{ROLL, PITCH}RATE_D at half tuned values: https://review.px4.io/plot_app?log=792b23c7-fdec-4d75-bd89-04b1ba97f43d
MCP_XY_VEL_D_ACC at half default (0.1 vs 0.2): https://review.px4.io/plot_app?log=f8476605-fdb6-46cb-b1bd-7dd2e22e653f
To be clear, I think we are fixing a second order effect with these changes. Although we’ve improved flight behavior, something is driving these setpoint oscillations in the controller and I still think it has something to do with the high accelerations that persists despite these changes. I’d love to solve the root cause of the high vibe in addition to setting the controller up for acceptable performance despite the noisy acceleration data.
FYI - I set up a separate topic regarding the setpoint oscillations in case someone tries to find a solution. @Romain_Chiappinelli could you post in that thread about why changing the MPC_XY_VEL_D_ACC reduces the setpoint oscillations? Pitch Setpoint Oscillations in Hover