Switched over from the beta ATR firmware to 5.3.004 Stable, which uses an angular rate adder (defined in Yaw P) as an alternative to D. However, when bumping up the Angular Rate KP anywhere above 0 will introduce a concerning low humming noise from the motor, shown in the attached video. Higher values will produce a much louder sound. I haven’t used any values above 0.6 either, only have used suggested values.
I’ve messed with app configuration settings, including some suggested by Hannes, I’ve tried redoing motor config and even IMU calibration, but nothing will get rid of the noise outside of setting Angular Rate KP to 0 or switching firmware back to ATR or v2. Any ideas on what’s going on here?