Yaw problem. Cannot lift up. Quad X

[mmmmss1981]

Hi,

I have built myself a cheap quad copter with the help of iforce2d from youtube.com.

Radio is made using NRF24L01. For now just using 4 channels Throttle/Yaw/Pitch/Roll. Joystick is pretty good for the buck. All for channels give 0-1023 reading. All 4 ESCs are calibrated per this https://goo.gl/GhKEor. My quad is not able to lift up and it is yawing too. Yaw is in the Counter clock direction with zero yaw from the joystick. This video will give you an idea of my setup. https://goo.gl/lVHBV5

Yello Front_L = Clockwise
Blue Front_R = Counter Clockwise
Yello Rear_R = Clockwise
Blue Rear_L = Counter Clockwise


Multiwii Config UI is here https://goo.gl/bGP7VW

Questions:
1) How can i stop the quad from yawing.
2) Do you think my frame is too heavy for it to lift up the entire thing? It weighs 315 grams (aprox). Do you think it is too much weight for the copter?

Appreciate all your help and suggestions.

Components used are below if relevant.
Motors = Brushless Motor 1804 KV2400 CCW CW for 220 240 RC Mini Quadcopter S
ESC = 2-3S 12AMP 12A SimonK firmware Brushless ESC w/BEC Quadcopter Multi-copte QA
Lipo = YKS High Power 7.4V 1300mah 20C MAX 30C 2S Lipo Battery T Plug For RC Helicopter

Thanks,
M

[mmmmss1981]

I dont know what you are talking about. I ordered a 40g quad X frame. Lets see what happens.

Just for your information. This is the frame on the way and i cant wait to get it.

http://goo.gl/10JNAm

[LutzB]

Just ignore "kongling". It is a spambot.

[mmmmss1981]

Old frame was too heavy and that is why it was not lifting off and I was able to make it take off with a Eachine200 frame. i think i need to do some tuning now. Here is the maiden flight https://www.dropbox.com/s/wwwpxkv35v0t5 ... 4.mp4?dl=0

One thing i saw was when i apply some forward pitch it just rolls over because the Rear L and Rear R motors throttling up so much it seems. How would you tune the PID values to make the flight more stable.