"Yeah we have a hefty 10000mAh. Would an unbalanced drone have this behavior? It is somewhat back-heavy, that is true. I'm not an expert in this, but I would expect that a drone that is unbalanced would have trouble keeping a constant pitch, but it's…"

"Just some additional background. I noticed that during the more "spiky" auto mode the drone was flying slower than we had configured it (11m/s rather than the 15 m/s). This is an indication that the spikes "up" are causing it to slow down and not…"

"Yeah not 100% sure, but I did see it land with one of the motors not spinning, so pretty good indicator. That said, it did do autotune and auto pretty well. At 15m/s though has some weird spikes of pitch however.…"

"The solution was to drastically turn down all PID gains related to acceleration or any of its derivatives. So the loiter gains were tuned down by ~70%, also decreased a bunch of WP_ parameters like acceleration, jerk, etc. It made the copter…"