Tyro79 Yaw Oscillations without <5Hz Lowpass

[hard tartan]

I have an old 2018 Tyro79 (MATEKF411 FC, with poor quality motors with shot bearings) I wanted to fly again. I flashed 4.5.2 and BlueJay on the ESCs (configured to use DShot300).

With all settings as default, as soon as I arm in STABLE I get incredibly violent yaw oscillations, even with no props mounted.

If I reduce Gyro Lowpass 1 dynamic low cut off to 5Hz, the oscillations stop and it can hover successfully for a few seconds and then starts shaking again.

Unfortunately the FC has no blackbox.

Any advice? Thanks!:)

[clever garnet]

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[hard tartan]

2fd46ce5-4c3e-4bd3-a077-3f02312f1cd0

Id: "2fd46ce5-4c3e-4bd3-a077-3f02312f1cd0"

[fierce hedge]

version of BlueJay ?

check errors in motors tab

[hard tartan]

0.21.0

[hard tartan]

I’m not seeing any error messages, where would they be?

[fierce hedge]

Does it help when disabling bidirectional dshot ?

[fierce hedge]

From: https://intofpv.com/t-panic-pid-tuning-my-first-custom-build

1. Bumped up the P term for all three axis with 8.
2. Disabled the dynamic filter and I've set a manual filter range. The range is somewhat broad, but it seemed to cure the twitches.
3. I have put an 85% throttle limit. I noticed that my battery voltage sagged quite much. This got rid of the last bit of oscillations.

[hard tartan]

No, definitely no errors, and no difference in shaking with bidirectional disabled

Okay, I'll try that, thanks!:)

[fierce hedge]

Yeah I flew tyro79 (2019) in acro mode with Jazz Maverick (but no longer have them). Also transferred the build to a 4" frame which was adjusted on my request: https://armattanproductions.com/pages/kit_detail/1154
Using 4" was a real difference in flight feel.

Build 4 of them at the time.

[hard tartan]

this looks like it's working!:) thanks! just a test with the props off, but the violent shaking has completely stopped

also didn't go crazy when i throttled up (though 1 or 2 motors would slowly climb in rpm if the throttle wasnt idle, but I'm assuming that's an artefact of not mounting props and holding it in my hand?)