SITL gazebo typhoon_480 shows oscillations in flight

[Jaeyoung-Lim]

Describe the bug
When running SITL gazebo with the typhoon_480 oscillations can be observed during flight.

To Reproduce

1. Run stil using make px4_sitl gazebo_typhoon_h480
2. Upload a mission and start the mission

Log Files and Screenshots
The oscillations are quite obvious in this log It seems to happen sometimes during forward flight.

Additional context
This is one of the only setups that a gimbal is integrated into SITL. This issue makes it hard to develop features that involve a gimbal on the aircraft. It would be great to have a functional setup of the typhoon_h480 model.

[Jaeyoung-Lim]

This seems to be a result of the tuning of the attitude controller on the model. Will try to tune the model in SITL

[dayjaby]

Any updates? I use those values on current master:

x + MC_PITCHRATE_I [266,541] : 0.0500
x + MC_PITCHRATE_P [269,544] : 0.1000
x + MC_PITCH_P [270,545] : 6.0000
x + MC_ROLLRATE_I [275,550] : 0.1000
x + MC_ROLLRATE_P [278,553] : 0.1500
x + MC_ROLL_P [279,554] : 6.0000

[TSC21]

@dayjaby I think this was fixed in PX4/PX4-SITL_gazebo-classic#355 already.

[Jaeyoung-Lim]

@dayjaby Thanks! Does the values fix the oscillation?

@TSC21 This is a separate issue. The vehicle's attitude controller is undertuned and starts to oscillate in forward flight. I can fix it by retuning the vehicle, but I wanted to tune it really well until I can make a PR

[dayjaby]

@Jaeyoung-Lim yes, it does. Feel free to create a PR with those.