Recently I upgrade the firmware on my custom Quadcopter firmware from 1.10.1 to 1.12 stable. And flight in position mode become very unstable.
While using 1.10.1, I’ve tuned my PID using QGC, where only rate Controller xRate_P, I, D are shown. The drone flies stable and responsive in both manual and position mode. No Jerk or overshoot.
When upgrade to 1.12 stable, with my previous PID value, manual flight performs as usual, while flying in Position mode, the behavior become supper unstable: overly sensitive for input, and a lot of overshoot, if I gave a step input, the drone will almost flip over due to overshoot.
I don’t understand why a firmware update leads to unstable flight in position mode?
I notice the firmware introduced rate_K, meanwhile, the latest QGC also shows “Velocity Controller” and “Position controller”. Including some new parameters like Proportional gain (MPC_XY_VEL_P_ACC), how is this different than the old P.I.D values? Can someone help me understand how to tuning these new params to have a stable flight as before?