I recently build a reference quad based on Afernan's AQ6 Quad monoblock-610 KISS ESCs.
I recently received a mail from him concerning the following problem
IMPORTANT NOTE. KISS ESCs are used here with PID control. This is under development yet. We´ve discovered that under certain frame configurations high coupling with control can happen inducing high vibrations (> 1g) making impossible to fly. If that happens it´s necessary to increase DRATE & SLOT params (up to a maximum of 100) and decrease Tilt Rate D
Meanwhile I noticed some strange vibrations. when I give about 40% thr without props mounted, the frame would start to shake. See video
But when I go a little bit higher at 50% it goes away.
The ACC levels are between 2 and 3 when hovering.
On the other hand, the quad flies great with 610 motor to motor.
Previously I left the whole length of the carbon tube which gave me a quad of 780 motor to motor.
It also flew good.
Is there any progress in the problem? What steps should I take besides decrease Tilt Rate D