Doesn't level quickly when sticks return to zero (attitude controller sucks)

[dakejahl]

After commanded a roll/pitch, the vehicle does not return to "level". This should be the job of the P only controller for roll and pitch. The P gain has been increased as high as it can go without oscillations at hover, however this doesn't seem to be sufficient when the error is large.

• Are there accelerations due to motion that could be affecting the attitude estimate?
• I tested on the test jig, and the vehicle returns to level quite quickly with the current gains. It is to be noted that the moment arm induced from the jig is probably helping this quite a bit.
• I could add expo gain to the controller, but that seems like addressing the symptom and not the cause.

[dakejahl]

The step response from the rate controller looks good, the tracking is pretty much spot on with minimal overshoot/ringing. The issue seems to be that the attitude controller is producing medium demand while near zero (saw about +/-15deg/s as input to rate controller). This causes the rate controller to oscillate rapidly and the phase delay between rates setpoint and rates actual can be clearly seen.

tracking performance of rate controller with step inputs