Awww yes finally time to do some PID tuning. After my last field test it was clear I needed to replace my motors with better quality ones and do some more PID tuning. After making a few mods to the airframe for added support and installing the new Jdrones Purple 2830 /12, 850kv motors with 10x4.7 props it was time to start testing again. In the first part of the video the quadcopter wobble front to back ( I was making it do this with the elevator stick) then get stuck at 45 degree, this is when I chopped the trottle and have a rough landing. This was from setting the D to low .09 is way to low. The last hover is with the PID settings below.
So far my best luck has been with this setting. But, I still think there is room for improvement.
The Yaw is stable, but not very responsive to what tell it to do.
Roll & Pitch P =( .3) I = (.024) D = (.13) Yaw P=(.505) I=(.007) D=(.085)