Inexplicable "jerky" behavior of Pixhawk

I am flying a Tarot 650 frame with a Pixhawk autopilot for some time now. I have autotuned it and it flies well. Since two weeks it flies "jerky". The motors de-/accelerates suddenly and the whole thing kind of jumps through the air. I can fly it, but I always feel I haven't the thing under control. I can't remember of having had a crash or something that might be the cause of loose parts on the frame.

I tried to analyse the log files but I am afraid I am not very good at this. What I did notice though is a very high vibration (logfile attached). I did not see this vibration in the logs of a week ago. acclX and Y vary between -18/+18 which is way out of their advised range. Does anybody have some hint where I should be looking for. And what log file entries I should study?

Any help is greatly appreciated.

Setup:

  • Tarot 650 frame
  • Pixhawk Autopilot
  • Multistar 4830-480 motors
  • 17" propellers
  • DJI 30A Opto ESC's
  • Battery 3S Zippies: 5Ah and 8Ah

Regards, Rnold

2016-09-10 15-58-26.bin

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