A quick Testflight showed still a similar behaviour but as the PITCH & ROLL Gains are now way down the Aircraft did not expose the Hickup as drastically as it did before. Still the effect shows in the log. With the lower Values the Aircraft flies like a wet cleaning Mop.
And here the Gyro:
So my Results of PID Tuning by "Hand" are the following (as I have a Hexa I assume identical Parameters for Pitch and Roll Params as this should be symmetrical):
MC_*RATE_P = 0.2
MC_*RATE_D = 0.001
MC_*RATE_I = 0.07
MC_ROLL_P = MC_PITCH_P = 2.5
Are the higher RATE Values causing the high Oscillations? If so I would try to lower RATE_P to default or even lower. Any suggestions? I'm really bad at Tuning...
During the Brake there are also stronger Oscillations