Analysis of log files according to Maiden Flight XL Helicopter

Hi everyone. A few days ago, I set up and flew a helicopter equipped with ArduHeli for a friend. These are the approximate specs:
approx. 20 kg,
rotor diameter 2.6 m, Jakadovsky turbine, 3-blade.
The helicopter was more than 10 times more expensive than the most expensive model I’ve ever owned… so I was extremely excited.
The flight wasn’t spectacular; I hadn’t done any tuning yet, just tested the basic functions. Unfortunately, I also forgot to activate vibration measurement.
On the next flights, I’ll measure vibrations, trim the hover, and activate the harmonic notch filter. Afterward, I’ll perform Auto-Tune flights.
But what can I do beforehand based on the log file analysis? (I’ll send the log file, of course; it’s large and only works via my cloud. I hope you can open it.)

1. General flight feel:
   The helicopter was very sluggish around the roll and pitch axes, but very nervous around the yaw axis. I can increase the FF for roll and pitch by at least a factor of 1.2-1.5. And that will still be too little. Right?

2. Yaw axis: The heli rotates much too fast, I will first reduce the parameter ACCEL_Y_MAX, right way?

3. The helicopter oscillates heavily around the yaw axis, after hard yaw-commands. Can I make some adjustments to the PID controller before the next flight? I’m not sure; I don’t want to make things worse.

There’s also a problem with slow but increasing oscillations around the pitch axis during descent. More on that tomorrow.

Thank you,
René from Berlin

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