Yaw is working with deffault PIDs but is far to be perfect (at least for me)
In my quad with RCT5010 & 15x5 props I have several issues:
1.- has a lazy response to the stick
2.- much more reactive rotating CCW than CW
3.- moves out lateraly when yawing. Stick to left (CCW), copter laterally to right and vv.
In this video you can see all three issues, starting from PH and pushing yaw pulses left/right:
To improve the lazy response I´v increased some PID´s Yaw rate P = 500, and angle P = 0.075 and improves a bit.
Issues 2 & 3 are linked and I think they are a consequence of vertical missaligneent of the motors. Somehow they are aligned in favor of CCW rotation, so it can explain that rotates easyer in CCW and also moves laterally since lateral component is not zero when yawing. But I find very difficult to get a pefect motor vertical alignement.
Any experience / sugestions is wellcome.
Angel