I am a similar problem like this. The motor vibrates at high throttle, I changed the props, calibrated ESC's but it still jerks. What could be the reason?

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Firstly just check the connections of RC and try printing the sensor graphs.

If all the connections and graphs are OK then this looks like a PID problem (With Derivative term a bit too high).

With a bit of PID tuning it should work fine.

-Prasanna Shevare

 Drona Aviation

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