Fantastic, thanks for your super detailed reply. I am certainly going to be investing more time to try and produce a better tune and experience, hopefully even a better set of defaults for people to try?
I did some back-to-back flying with another one of my quads yesterday. The main difference between them which really grabbed me was when trying to get an orbit going in LQG it pretty much always does this weird thing where it gets caught up on itself before it starts to swing round, then when I managed to get it started the motion wasn't very smooth. Here's another vid so you can see what I mean. Does anyone else's behave similar to this?
Stick inputs were similar entering both attempts but you can clearly see how the first quad gets caught up and just stops rather than flowing into the orbit. This was also the best attempt of 4 batteries, vs the 1st pack I flew on the second quad. Rates are identical.
Idle throttle is fairly high, I have it set to 5%. The electronics and motors on this quad were used in a build set at 3% prior to this (same flying style) and I never had a desync before. I'm not entirely discrediting it as a possibility but I've never seen a de-sync that didn't cause a death-roll before.
What do you reckon is a potential reason for not re-arming afterwards?
re: ESC telemetry - are you referring to the brand spanking new bi-directional DSHOT which sends telem back over the signal wire during flight? It's a very cool feature.
Thanks again for your details on the Linear Quadratic controller, that's really going to help in trying to get this baby (and hopefully other guys' builds too!) to glide like they should!
I've been disabling portions of code in order to try and defeat the runtime gyro-bias updates but not had success yet. New flight artifacts compile and flash just fine but still getting the bias change as I fly. I'll keep going and report back when I manage to beat it!! Seems like it will be a serious task to actually remove the code responsible...I can see why it hasn't been done yet. It's like a rotting tree with roots spread to every corner of the stabilisation system