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Hi,

I'm currently trying to build my own quadcopter. It's based on a DJI F450 Kit (so I'm still using the stock motors, ESCs, 10'' props with a 3S).
Everythings working fine while tuning my PID - as long as it's just one axis at a time. I found some good PID settings for Roll/Pitch while tuning it on a string.
Now I tied it to the ground to see what's going to happen as soon as I let it control both axes at the same time. I thought it would be oscillating quite a bit (cause still in ground-effect), but it just behaves in weird ways. It isn't oscillating it just tilts (~30°) in random directions, can't nearly level itself and sometimes needs around 2-3 seconds to to correct from tilting (e.g.) to the left and just starts tilting (e.g) backwards.

I tried retuning all my PIDs, tried different settings, checked my sensors+filters, my DCM algorithm... Everything seems to work properly (as good as I can see these values during "flight"), and I haven't got an idea what could cause this misbehavior.

I know it's hard to give any advice on a "homebrew" hard-/software, but I'd by very thankful for any ideas what I should test / change / ... to maybe get an idea of what's going wrong. Perhaps someone out here has had similar problems...

Thanks in advance,
Steve