it could get even worse; I’ve just realized I may not have been 100% consistent about which side of the drone is the left and which is the right. ¬†Front / back is easy due to the while / black legs respectively, but left / right depends on yours and / or the drones point of view.

Some panic code / hardware check seems I made the sensible decision to adopt the drone POV, but I simply cannot trust myself to have been consistent when matching roll PIDs to left / right blade that I got it right; and in fact if I got it wrong, it would definitely explain difficulties tuning yaw, as well as getting the right PIDs when testing diagonally.

So some double-check tuning for tomorrow, which usefully will allow me to tinker with the pitch / roll PID’s d gain in a less destructive manner!

On the plus side, it does mean I’ve got something to do tomorrow until the new motors arrive, and I can have a lot more confidence that when I do strap them on, they won’t be damaged!