Need help PID Tuning EKF Tuning

#1

Hi there,

i am trying to fly my pixhawk for like 2 weeks now without any results.
I am trying to fly my copter in acro mode. It is a pixhawk 2.4.6 mounted on a 250 X-Frame using Tmotor F60 and 5040props.
The Copter is vibrating at a very high frequency. When I decrease pitch&roll-rate-P it is still oscilating at low frequency. When I then increase pitch&roll-rate-D it gets instable immeadiately.

I think the filters are not tuned correctly, as the pitch and roll rates seem very noisy. It is so noisy I can’t use the D-Gain, which is needed for stabilization.

I tried to tune the EKF parameters by increasing and Decreasing EKF_TAU_ and EKF_ACC_NOISE but there is no improvement.

Any suggestions?
Here is my lates log
https://logs.px4.io/plot_app?log=b8b35a76-42c8-475b-a9c0-f4a76366807f

Thank you very much
Jan

#2

Sorry if this is basic but have you tried tuning the copter in stabilized mode? I’m pretty sure you’d see better results.

Then you can re tune in acro mode