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1

Your controller controls pitch and roll. However, in the graph you showed us we only see x,y and z. Could you add the plot for pitch and roll? I'm not an expert in aircraft control, but I think you can have a constant pitch and roll and still move in the x,y,z plane. I'll edit my answer as soon as you give more info. Edit : You roll seems stable, you could ...


0

Try increasing the I coefficient in PID; otherwise retune the whole thing by setting D and I to zero and then increasing P until the threshold at which it goes unstable (oscillates at a constant amplitude rather than grows) then set it to half that value as an initial estimate (in all cases it should have an offset with P alone)...then increase I slowly and ...


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