It’s definitly not the first drone I build with ardupilot, but this is the first time with a 7 inch drone with arducopter. I followed the manual and calibrated everything as usual. I never had this problem before. This are the rates:
ATC_ACCEL_P_MAX,146100
ATC_ACCEL_R_MAX,146100
ATC_ACCEL_Y_MAX,29700
ATC_ANG_LIM_TC,1
ATC_ANG_PIT_P,4.5
ATC_ANG_RLL_P,4.5
ATC_ANG_YAW_P,4.5
ATC_ANGLE_BOOST,1
ATC_INPUT_TC,0.15
ATC_LAND_P_MULT,1
ATC_LAND_R_MULT,1
ATC_LAND_Y_MULT,1
ATC_RAT_PIT_D,0.0036
ATC_RAT_PIT_D_FF,0
ATC_RAT_PIT_FF,0
ATC_RAT_PIT_FLTD,28.5
ATC_RAT_PIT_FLTE,0
ATC_RAT_PIT_FLTT,28.5
ATC_RAT_PIT_I,0.135
ATC_RAT_PIT_IMAX,0.5
ATC_RAT_PIT_P,0.135
ATC_RAT_PIT_PDMX,0
ATC_RAT_PIT_SMAX,0
ATC_RAT_RLL_D,0.0036
ATC_RAT_RLL_D_FF,0
ATC_RAT_RLL_FF,0
ATC_RAT_RLL_FLTD,28.5
ATC_RAT_RLL_FLTE,0
ATC_RAT_RLL_FLTT,28.5
ATC_RAT_RLL_I,0.135
ATC_RAT_RLL_IMAX,0.5
ATC_RAT_RLL_P,0.135
ATC_RAT_RLL_PDMX,0
ATC_RAT_RLL_SMAX,0
ATC_RAT_YAW_D,0
ATC_RAT_YAW_D_FF,0
ATC_RAT_YAW_FF,0
ATC_RAT_YAW_FLTD,0
ATC_RAT_YAW_FLTE,2
ATC_RAT_YAW_FLTT,28.5
ATC_RAT_YAW_I,0.018
ATC_RAT_YAW_IMAX,0.5
ATC_RAT_YAW_P,0.18
ATC_RAT_YAW_PDMX,0
ATC_RAT_YAW_SMAX,0
ATC_RATE_FF_ENAB,1
ATC_RATE_P_MAX,0
ATC_RATE_R_MAX,0
ATC_RATE_Y_MAX,0