by JussiH » Mon Jan 27, 2014 10:06 am
There was a change in PID scaling from 6.7 to 6.8. So if you fly with your old params, that might explain the problems.
As for mags, I´d say that noise levels up to around +/- 0.5 is ok. But I usually see noise floor around 0.2 or lower in my builds.
For Acc, the noise level should be lower than +/- 2 for a good result. But I have had it as high as +/- 5 and still been able to fly good. When you begin to approach nose levels around +/- 10 on ACC, you are very close to saturation.
If I was you, I would take a good look at each propellor and motor. The kind of problems you describe could be associated with thrust mismatch on 1 or more actuators. Recent tests by teammembers seem to indicate that even socalled High Quality props can be mismatched. If you have a wattmeter, you can use that to compare the power on each actuator, but the best to do is to make a thrust measuring device and measure actual thrust at 10, 25, 50 and 100 percent duty (use the "duty" command in the esc cli)