first of all: I really appreciate what you're doing here. Great project!
I have a slight problem with my quad. Current firmware is 2.0.48 beta. After a long time of tuning the PID params I got it flying at least okay. The thing is that whenever I lower throttle a little faster than a snail moves and sometimes at random, too, the copter gets completely uncontrollable and crashes. I have had this problem over several firmware versions and one generation of ESCs and I have to admit, that I am completely clueless.
Attached, I got a log of one of the crashes; it happens near the end. Do you guys have any idea what could be wrong? I'm not at home currently but I could post my configuration and probably a video if that helps.
Every bit of help is most welcome!