Running into persistent high-frequency oscillations on my Nazgul5 build after attempting PID optimization. Setup: F40 Pro II 2400KV, 45A Tekko32 ESCs, 5143 triblade props, 6S 1300mAh.

Started with Betaflight 4.4 defaults, gradually increased P-term from 42 to 58 where it flies smooth. But any aggressive maneuver (snap rolls, punch-outs) triggers visible camera shake and motor heat. D-term at 38 but raising it makes oscillations worse.

Blackbox shows clean gyro traces during gentle flying but P-term spikes above 80 during quick stick inputs. Should I be looking at filtering instead of PIDs? Using stock lowpass at 100Hz.

Props are fresh, motor screws tight, soft-mounted FC with rubber dampers.

Classic over-tuned P scenario. Drop it back to 48-50 range and try enabling RPM filtering if your ESCs support bidirectional DShot. That should clean up the noise enough to run higher P gains without oscillation. Also check your motor temps - hot motors = aggressive tune.

Before touching PIDs more, verify your propwash handling. Try enabling D_MIN with values around 18-22 and set the gain to 35-40. This gives you dynamic D that ramps up during turbulent conditions but stays low during smooth flight.

Those F40 Pro II motors can be tricky on 6S with aggressive props. I run similar setup but had to drop to P=45, I=65, D=35 and rely more on feedforward (85-90 range) for quick response. Sometimes less PID gain + more feedforward = better feel.