Metal gears can break

Found the gyro bandwidth was doubled during the PWM rewrite, so set it back to its original value & got back to very similar gains as before the rewrite.

ANALOG_LOWPASS 1

Got all the way to the following gain:

CYCLIC_DAMPING 28

With this, if U push the stick over & snap it back she enters roll oscillation but recovers.

CYCLIC_DAMPING 32

is actually stable if she's not pushed. Snapping the stick over causes growing roll oscillation. So still evidence of noise adding slight stability.

Next, began adding nonlinearity to the feedback.

CYCLIC_DAMPING 24
CYCLIC_CURVE 128

Seemed to react the same. Unfortunately this was all we got before the aft cyclic servo failed again & she flung 30 ft across the ground. It may either be metal gears wearing out or gimbal lock with our crazy pushrod geometry. No-one is anxious to have a 3rd loss of control to find out.

Yaw damping seemed to oscillate the same whether 16 or 8. Need to try reducing yaw bandwidth.