After my close encouter with an AQ
I reinstalled everything again from scratch and used the DIMU FW r406 again. And also looking out that all parameters were correct
Onboard cal and tare went fine and stored everything.
But with the default pids it was quite unflyable. Yaw was uncontrolable and there was a fast oscillation.
Then I switched al my rate an angle pids back to the old ones from the non DIMU official fw. And it flies allmost perfect.
Someone give me a clue why this is?