Hi -
I am working on a 10" quad design. I am running iNav using default settings for a 10" quad, and I have successfully implemented both Position Hold and RTH. The quad has a mass of 1.0 kg without the battery mounted and I am getting about 7 minutes of flight time with a 4s 1550 battery.
The one nagging issue is an intermitent "twitch" which I believe may be due to improper gyro filtering. I have a short video of a flight that I made today and I was hoping someone could take a look and provide some troubleshooting advice.
The link is youtu.be/4aoBAfjmzE4

Thanks

I believe your idea of gyro filtering is on the right track. I was instantly thinking flight controller vibration issue when it looked like it had a high frequency vibration before you zoomed in but it's hard to pinpoint that without knowing the control inputs your giving it. The big twitche's when your zoomed in sure point in the direction of vibration or filtering as well.

What is his anyway an older flame wheel or clone? Are these all new components. The props especially are these the newer style multirotor props or the older ones with that plastic insert to make them fit the motors.

I'd start with ensuring perfect balancing props and the stack is not loose or too tight then adjust some filtering and see how it responds. At least it's very flyable right now so any small adjustments in the wrong direction shouldn't make it fall from the sky but youl know when your on the right track.

navillus5, one of the twitch movements appeared to happen on a pure yaw move. I had this on a much smaller 5" quad that was solved by installed a low ESR power capacitor across the power terminals of the 4in1 ESC. I know you had another twitch occur that didn't appear to be yaw related - but I would check that you have a low ESR cap on your ESCs (connected directly to the power pads on each esc) and one also on the power pads of the flight controller just to be safe. This might not be the problem though, just my simple view on things, lol... Also if you can post the BB logs then our local filtering guru samurai could help diagnose it for you.

good luck,.
ph2t.

Yaw twitch is usually cured by installing caps as you mentioned. If caps do not work, you have to look to increasing filtering.

Hi All -
Thanks for the responses. I have collected some flight data and they are accessible from the Google Drive link below. (I can get files to attach to my posts. Not sure if this is a problem on my end or if there is something up with the site. No matter what I do - my browswer won't open anything but the Mobile Version).
The one weird thing that I am seeing is that my Yaw step-response does not rise above 0.75 and appears to be insensitve to changes in the P value - at least across the range that I have tried 35-75. I am using PlasmaTree to analyize the logs.The quad flies well, is responsive and both position hold and RTH modes work, but the intermittent twitch remains. I'm not sure if it will be useful but the folder also contains both the log (Log01.txt) and video (Log01.mp4) of the flight shown in the YouTube video of the original post - I've also included a Log01.webm file produced by the blackbox explorer.

The quad details are as follows:
Holybro Kakute F7 and 4-in1 ESC stack
Emax 2213-935 kV motors
FrSky X4RSB reciever paired with a Taranis x9d
10" Master AirScrew Props
470 mm (18.5") motor to motor distance.
992 g mass without battery
Rectangular carbon fiber arms with 3D printed motor mounts

https://drive.google.com/drive/folders/1...sp=sharing