They're shaking and flying during a mission flight

🧪 Flight Testing & Log Analysis
1

Hello.
In Stabilize mode, we were able to fly perfectly.
So I finished the pid tune.
I did a mission flight right away.
But the path is not a problem.
As you move to the next waypoint, the drone is rattled.
The drone is 1000mm quadcopter.
No matter how hard I try to tune MPC, nothing changes.
Is it a PID TUNE problem in this way?
Please give me feedback.

https://review.px4.io/plot_app?log=bf4c159a-a0b8-4d9b-be75-87ceb8d61e79

2

@MaEtUgR would you mind having a look? Thx.

3

@JAEPIL_YOO From the log, it seems that the rate controller is overtuned. It is not the MPC(Multicopter Position Controller) but the rate controller - try tuning MC_ROLLRATE_ MC_PITCHRATE_ parameters

4

Can you tell me which part of the log you are saying is overtuned?

5

@JAEPIL_YOO As you can see in the angular rate plots such as this, you can see that the vehicle is unable to track the setpoints properly and overshooting quite a bit.

Also the vibration metrics show that there is quite some vibration in the airframe.

This documentation can be useful for you for analyzing the logs

6

In most cases, do you adjust the I GAIN?
It was very immediate and problem-free in manual mode.