"I wish. I see the same behavior on an APM, no matter if set to X or V frame.
What helped was reducing ACRO_YAW_P, but that also means that you will turn slower, of course.

I think the motors may not be able to keep up with the slowing down and…"

"O-kay. Issue found.ACRO_YAW_P was set to 45. I have no idea why. Highest possible value should be 10.MP didn't complain about writing such a value to the APM, or reading it from it.. it only complained about loading that value from a file.It still…"

"I've been using it for a while with no issues I noticed (orangeRX SBUS receiver)."

"The APM never saw any sort of failsafe, so it can only be that your receiver switches to RTL on signal loss.. that's not recommended, btw. It's better to set up FS so that the throttle channel drops very low (~960) and activate radio failsafe on the…"

"Wrong compass is plenty of reason for it to go bonkers and crash. Also, your voltage drops pretty far, may want to look into your power supply to the APM.
No failsafe was triggered from what I can see."

"Actually, even the official hex is ~680 kb. The hex is always much larger than the actual data written due to checksums etc."

"Hook up the air radio to your PC using a ftdi or similar serial->USB adapter and adjust the settings to match again."

"Considering the MPU6000 runs on 3.3V, it has to have a 3.3v regulator somewhere."

"Vibrations are low, props are balanced.
The frame is rigid, it's a GFK frame with aluminium arms.
Motors are 900kv MS2216 on 11-12" props.. I don't think that qualifies as large prop/low kv.
It appears I have to set P/I to 0.1 or lower for autotune…"

"Annnd.. it happens again. Tried to run Autotune once more, since the roll value it came up with was way too high (1.825, copter was waving arms like crazy when flying forward).. Error: Bad Gains."

"Check your 3.3V voltage regulator, it may be blown. If not, then your MPU6000 is probably fried."

"Not sure about iOS, but on android you can simply wire up a cheap bluetooth (HC-05) module to the radio serial pins and connect via BT."

"Your compass Z offset is very high, which implies you did the compass calibration inside near other magnetic fields, or have i.e. magnetic metal screws near your compass.
You have repeated errors that the actual position and calculated position…"

"Check if your THR_MAX value is set to 1000, not 80. There's a bug that sometimes sets it to 80."

"Have you actually tried to get off the ground yet? While on the ground, unless it's perfectly level, it will attempt to level the quad and can not, since you are still on the ground. This is only an issue if it also happens while in a hover."