We have built a custom frame modeled after the BlueROV2 which has thrusters in a vectored 6DOF configuration and is running a Pixhawk.
When testing it with manual joystick control, we observed excellent depth stability and smooth yaw rotation. When moving forward/backwards/left/right, however, there were significant yaw oscillations. We briefly attempted to tune the yaw, but weren’t sure whether to tune ATC_ANG_YAW_P/I/D, ATC_ANG_RAT_P/I/D or something else.
There is video of this here.
What should we be doing to remove these oscillations?