After some attitude PID control, I have run out of options why copter is behaving this way. Normally, you’d expect if a controller is tuned faulty (e.g MC_PITCH_P, MC_PITCHRATE_P, I,D) you would see an oscillation or a twitchy or a sluggish behaviour on PITCH axis.
The problem we have is that axis between Motor 1 and Motor 2
y=x line in ENU body frame behaves differently than the axis between Motor 3 and Motor 4
y=-x in ENU body frame. On the
y=-x axis, the multicopter holds the attitude without oscillations or too much overshoot, but on the
y=x axis, the multicopter overshoots therefore oscillates crazily, until it levels itself. I don’t think its related to software or control parameters, but rather a hardware issue.
We suspect one of the ESC’s (motor 2) might be faulty in some way. Do you think that might be the case?