Hi chuckntaylor,

I have a bunch of parameter changes I would like you to try before we try my autotune changes. I can see some higher frequency oscillation in your quad at 11 and 17 Hz. I suspect we can reduce the bandwidth of your control without impacting your performance given your large weight. I have a bunch of parameter updates I would like you to try. I can't upload a parameter file so I will put them below. Copy them into a .param file and upload them to your copter.

Please be very careful when you first take off after these parameter changes as they will affect your tune.

Your voltage reading on your battery looks funny. It seems to start lower and go up once it takes off.Is this working correctly?

Leonard

.param file:

NOTE: 3/22/2016 6:00:15 PM Frame : chuckntaylor 20160329 Leonard

ACCEL_Z_FILT_HZ,5
ANGLE_MAX,3000
ATC_ACCEL_P_MAX,24000
ATC_ACCEL_R_MAX,24000
ATC_ACCEL_Y_MAX,9000
ATC_ANGLE_BOOST,1
ATC_RATE_FF_ENAB,1
ATC_SLEW_YAW,1000
AUTOTUNE_AGGR,0.05
AUTOTUNE_AXES,1
AUTOTUNE_MIN_D,0.004
INS_ACCEL_FILTER,5
INS_GYRO_FILTER,5
LOG_BITMASK,192509
MOT_THR_MIX_MAX,0.5
MOT_THR_MIX_MIN,0.1
MOT_THST_EXPO,0.7
MOT_THST_MAX,0.95
MOT_YAW_HEADROOM,200
RATE_PIT_FILT_HZ,5
RATE_RLL_FILT_HZ,5
RATE_YAW_FILT_HZ,2
RC_FEEL_RP,25