Optimizing S500 Quadcopter Performance Based on Log Data

Hey there,

I can fly my drone successfully in mission mode. I would like suggestions to improve my build based on the log data.

This is my build:

These are some of my observations and queries:

  • Are the vibration levels optimal for an S500 frame, or should they be lower?
  • The Roll/Pitch/Yaw angular rate graphs don’t seem right. What could be the issue?
  • The motor outputs appear to be saturated. I set the PWM_MAIN_MAX values to 2000, MPC_THR_MIN to 8%, and MPC_THR_HOVER to 50%. According to the T-Motor datasheet, it can produce 500g of thrust at 65% throttle, which should be sufficient to lift the 1.5kg drone. Is the saturation due to wind?
  • There is some overlap in the raw acceleration graph between XY & Z axis. What could be the issue?
  • Are there any other issues in the logs that I should pay attention to?

Logs:
https://review.px4.io/plot_app?log=a24b2c4d-6dee-4f84-ac06-6f7a6e06e3d3 (There were strong winds blowing in the west-east direction)

These are the PID values after Auto Tuning. I had performed this earlier in HOLD mode.