I thought of a few edits actually
You are running both EKF2 and EKF3 at once - that might not be an issue and I think plenty of people are using EKF3 now. And it will be the default soon. Probably for a hex of this size and cost I’d stick with EKF2 which is tried and true, at least until tuning is sorted out better.
I guess you have EKF3 enabled for object avoidance? I would disable all optional features until the debugging and tuning is finished, then enable the additional features.
Only the “AVD” params are required for avoidance using ADSB.
I’d set this boot delay to allow CAN devices (eg: GPS) to boot up before the Cube
There’s a couple of other battery voltage related mistakes, set these:
The MOT_BAT params will help with the tuning too.
The Barometer is going crazy, but Baro2 is working OK - not sure what to do about that yet. Maybe lets check it in subsequent flights after the fix-ups
Tuning needs some work, and will be a big contributor to the rough landings
I think these are too low
I couldn’t tell from the pic what prop size you’ve got, but took a guess and I’d probably set these until we know more details.
Let us know the prop size.
If you using T-Motor Flame ESC’s then set MOT_THST_EXPO,0.2
It will definitely be worth the time and effort to set up the Harmonic Notch Filter
Do a test flight with these params (and all the rest from above), stick to just hovering for a while, and maybe a few gentle movements.
Post that .bin log file and we’ll go from there.
Once we’ve got these things nailed down, we can move onto PIDs and Autotune - there’s work to be done there!
Have a read over the Tuning Guide too, it definitely applies to these larger aircraft.
Landing in Stabilize mode will always be a bit tricky. AltHold will be a better mode to use for testing and almost all flying except for when you want LOITER mode. It’s excellent that you’ve done a lot of flying in Stabilize mode as that is still the emergency go-to mode.
AltHold has the freedom of movement of Stabilize, but holds altitude (obviously) and “throttle” is from the centered position.
Actually spring-centered throttle is the way to go, and set PILOT_THR_BHV,7
I think you could set these PIDs and it will help before the next test flight, but as per the Guide, reduce them if there’s oscillations, particularly the ANG P values.