Hi Larry, thanks. The plastic arms are on right now, so that's the image. But I've staged the aluminum arms with 530kv motors and props for comparison. I've had the same kind of overwhelmed crash with both setups.
ESCs are Afro 30 Amps with no BECs. I'm still on PIDs rather than Quatos, as multiple forum members have suggested moving to, because I've gone over the 1kg weight limit. I'm double that.
Not much difference in vibrations between aluminum and plastic. Plastic may even be better. The 920kv motors (depicted) clip with that depicted smaller setup, but don't with the bigger 530kvs.
here are the PIDs. Same for both setups,
CTRL_DBAND_THRO 125
CTRL_DEAD_BAND 40
CTRL_FACT_PITC 0.0500000007451
CTRL_FACT_ROLL 0.0500000007451
CTRL_FACT_THRO 0.5
CTRL_MAN_YAW_RT 90
CTRL_MAX 1446
CTRL_MIN_THROT 20
CTRL_NAV_YAW_RT 120
CTRL_PID_TYPE 0
CTRL_TLT_ANG_D 5500
CTRL_TLT_ANG_DM 900
CTRL_TLT_ANG_F 0.181999996305
CTRL_TLT_ANG_I 0.00249999994412
CTRL_TLT_ANG_IM 360
CTRL_TLT_ANG_OM 1200
CTRL_TLT_ANG_P 80
CTRL_TLT_ANG_PM 1200
CTRL_TLT_RTE_D 10150
CTRL_TLT_RTE_DM 9999
CTRL_TLT_RTE_F 0.181999996305
CTRL_TLT_RTE_I 0
CTRL_TLT_RTE_IM 9999
CTRL_TLT_RTE_OM 3000
CTRL_TLT_RTE_P 0
CTRL_TLT_RTE_PM 9999
CTRL_YAW_ANG_D 0
CTRL_YAW_ANG_DM 0
CTRL_YAW_ANG_F 0
CTRL_YAW_ANG_I 1.99999994948e-05
CTRL_YAW_ANG_IM 0.0399999991059
CTRL_YAW_ANG_OM 1.25
CTRL_YAW_ANG_P 0.0500000007451
CTRL_YAW_ANG_PM 1.25
CTRL_YAW_RTE_D 240
CTRL_YAW_RTE_DM 386
CTRL_YAW_RTE_F 0.25
CTRL_YAW_RTE_I 0.725000023842
CTRL_YAW_RTE_IM 386
CTRL_YAW_RTE_OM 870
CTRL_YAW_RTE_P 1445
CTRL_YAW_RTE_PM 386