Reduced vibrations and flying behaviour

[HeliHenkie]

The last few weeks I've been trying to eliminate vertical vibration to improve alt hold.
Using combinations of standoffs, rubber dampers, etc. it's possible to get a relatively clean acc-z graph.
What I don't understand is the change in behaviour when hovering manually.
With a lot of vibration my quadcopter hovers and flies a lot like the KK board.
With most of the vibrations removed from the z-axis the quadcopter behaves very nervous around the vertical axis.
Sudden movements up and down, etc.

What PID should I tune to improve on this behaviour?

Can someone help to explain this?

Best regards,

Jan Willem

[JussiH]

Jan,

We really need to know more details about your setup. Pictures, motors, ESC´s batteries, props, FW version is the bare minimum.

In your case there could be a lot of explanations and your question is a very broad one. Help us narrow it down by posting exact details about your build and setup.

If you post 20 seconds of video and a corresponding log that shows "quadcopter behaves very nervous around the vertical axis" I am sure you would get some good suggestions for solutions very fast... At least post the hover log you already have - it can contain clues.

Are you saying that Position hold works, but you have a problem with hovering in manual mode?

I thats the case, I would take a look at the throttle ranges of your ESC´s. If you post a screenshot of your motor plots we can see a lot more about what is going on. It could also be that you have too large throttle factor or some other problem with.

[JussiH]