when takeoff, can't hold the heading

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I have build QUAD 450 in X mode
propeller 10*47
motor sunny sky V2216-12 800KV
battery 3S 4400mah.

1. When AQ takeoff, it didn't hold the heading.
Instead it would first rotate, then back to the Heading preset on the ground.
This would happen,no matter on ALT hold or Postion hold mode.

2. When AQ move forward after or right left,it descend and then ascend.
Is it mean, it in a bad altitude hold.
By the way,I have put a black foam on barometer.

3. The AQ'attitude control still exsit a little unstable,
especially when a gust wind come, it can't keep the attitude.

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My PIDs

Tilt Rate
D 7000 F 0.25
Tilt Angle
P 70
I 0.004
D 5500
F 0.25
Yaw Rate PID
P 1445 I 0.725 D 240 F 0.25
Yaw Angle
P 0.05 I 2e-05
Nav Alt Speed
P 130 I 1
Nav Alt Pos
P 0.18 I 0

the attachament is my ACC LOG.

Thanks

[chschmid]

You have a lot of vibs.
You ACC values should be close to 1. Yours are close to 10.
Check your props for balancing.

Cheers
Christof

[EX_TRUE]

Thanks for reply.

ACC valuse where above 5 can be AQ respond to the pitch command.

I have balance the pro and motor, also I have put a 3M foam rubber between AQ and Airframe.

if there any suggestion, vibration is really an issue.

[plexus]

Hi
If yours motors and prop are well balanced, the vib may coming from the center plate and arms. But see too the value of the tilt rate D if it is too high.
Can you give a photo of your bird ?
I see you have 7000. What your version of QGC?. You have an old version and not the 1.6.3.
Alain

[chschmid]

[Max]

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[chschmid]