I have been working on setting up a HolyBro S500 ARF frame (Holybro motors, ESCs, etc) with a Pixhawk 2.4.8 (Pixhawk clone) flight controller. For some reason, even though I selected the HolyBro S500 reference frame on first setup, the oscillations were so bad, I could hardly get off the ground with the aircraft. After reducing/adjusting the roll/pitch PIDs a bit, I think it is flying a lot better, but I was wondering if anyone could take a look at this log and give any suggestions on improving performance (or explain why the S500 Reference params didn’t work in the first place.) Thanks! The log I’ve linked here is a flight with the modified PIDs.