I have a quadcopter with TBS discovery frame and 10inch props running on 810Kv motors on 3S. The quadcopter has an asymmetrical mass distribution since the heavy battery pack at the back causes the weight to be heavily skewed towards the back. The quad is really unstable and a pain to even hover properly, even in angle/horizon.
I was going through another thread on this stackexchange, and was trying with low PIDs to no avail. Turns out I need high PID gain for a craft with low power to weight ratio (around 8 : 3). My tune still seems to have some issues, since my quad was still having oscillations and it suddenly lost altitude and slammed hard into the ground when faced with a sudden gust of wind while hovering at 20m. Doing fast moves like rolls and flips with this quad doesn't really appear to be a good idea before setting up the PIDs properly since it is a bit to large and risky. Most of the tutorials I have followed seem to be stuck on gauging response to sharp turns and pitches and rolls, so I am not sure how to go about it. Increasing I or decreasing P and D makes the quad even not wanting to lift up from the ground, oscillating on the ground like a pendulum along the midline.
This drone is just a hobby project with no special use case. I will be using it just for leisure flying.