Unflyable 5" quad

Hi i have a 5" quad, which is impossible to fly.

Here is a log file and a video which shows the problem.

https://logs.px4.io/plot_app?log=599abcde-363f-4e64-87b2-be4182e1a370

@mathias-h Looks like your estimator is diverging due to high vibrations. You can go through this page on how to handle vibrations

these oscillations due to the large parameter d, set the minimum value, for example 0.01

helped?helped? Or not ? just wondering