Hi Eduardo.
I have already tried to increase i term to 800 but found no improvement
quadrotor_wecam.xml
<http://lists.paparazziuav.org/file/n17022/quadrotor_wecam.xml>
<airframe name="Quadrotor XYZ pwm">
<modules main_freq="512">
<load name="send_imu_mag_current.xml"/>
<load name="openlog.xml"/>
<load name="gps_ubx_ucenter.xml"/>
<load name="sys_mon.xml"/>
<load name="bat_checker.xml"/>
<load name="geo_mag.xml"/>
</modules>
<firmware name="rotorcraft">
<target name="ap" board="krooz_sd">
<subsystem name="radio_control" type="datalink">
<define name="RADIO_MODE" value="RADIO_AUX1"/>
<configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0"/>
</subsystem>
</target>
<target name="nps" board="pc">
<subsystem name="fdm" type="jsbsim"/>
<subsystem name="radio_control" type="ppm"/>
</target>
<subsystem name="motor_mixing"/>
<subsystem name="actuators" type="pwm">
<define name="SERVO_HZ" value="400"/>
</subsystem>
<subsystem name="telemetry" type="transparent"/>
<subsystem name="imu" type="krooz_sd"/>
<subsystem name="gps" type="ublox"/>
<subsystem name="stabilization" type="int_quat"/>
<subsystem name="ahrs" type="int_cmpl_quat">
<define name="AHRS_GRAVITY_HEURISTIC_FACTOR" value="30"/>
</subsystem>
<subsystem name="ins" type="hff"/>
<define name="USE_GPS_ACC4R" value="1"/>
<define name="HFF_R_POS_MIN" value="2.5"/>
<define name="HFF_R_SPEED_MIN" value="0.5"/>
<define name="HFF_ACCEL_NOISE" value="1."/>
<define name="VF_FLOAT_MEAS_NOISE" value="1."/>
</firmware>
<servos driver="Pwm">
<servo name="NE" no="0" min="1000" neutral="1150" max="1900"/>
<servo name="SE" no="1" min="1000" neutral="1150" max="1900"/>
<servo name="SW" no="2" min="1000" neutral="1150" max="1900"/>
<servo name="NW" no="3" min="1000" neutral="1150" max="1900"/>
</servos>
<commands>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/>
</commands>
<command_laws>
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
<set servo="NE" value="motor_mixing.commands[0]"/>
<set servo="SE" value="motor_mixing.commands[1]"/>
<set servo="SW" value="motor_mixing.commands[2]"/>
<set servo="NW" value="motor_mixing.commands[3]"/>
</command_laws>
<section name="MIXING" prefix="MOTOR_MIXING_">
<define name="TRIM_ROLL" value="0"/>
<define name="TRIM_PITCH" value="0"/>
<define name="TRIM_YAW" value="0"/>
<define name="NB_MOTOR" value="4"/>
<define name="SCALE" value="256"/>
<define name="ROLL_COEF" value="{ -MOTOR_MIXING_SCALE,
-MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
<define name="PITCH_COEF" value="{ MOTOR_MIXING_SCALE,
-MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
<define name="YAW_COEF" value="{ MOTOR_MIXING_SCALE,
-MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, -MOTOR_MIXING_SCALE }"/>
<define name="THRUST_COEF" value="{ MOTOR_MIXING_SCALE,
MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE, MOTOR_MIXING_SCALE }"/>
</section>
<section name="IMU" prefix="IMU_">