Big problems when lowering fast! Please help!

[ThreeDee]

Hello guys,

I´m new in this forum and want also give an quick info about me. I´m Nils, 24 years old, come from germany and fly quadrocopter for
3 years now. In the past I use a flight controller from another forum and it work well. But this components are quiet expensive and I search
for an alternative quadro system.

I bought an Crius MultiWii SE by using software version 1.9, Suppo 30A bl controller and rctiger motors MT2216 with MaxxProd 10x4.5" CF airscrew.
Other components:
- Futaba T10CG 2,4Ghz Tx
- Futaba R6107SP receiver
- Robbe Lipo 3300mA/h 30C

My problem:

I start the copter (quadro X) and hover a bit. No problems, no vibrations, all works fine. Then I rise fast about 2-8 meters (the altitude doesn´t matter) and
take back throttle for about 20% (absolut throttle). If the copter stays in this moment not exactly neutral it tills very fast left or right and doesn´t matter what I do, he crashes into the ground.
I can´t stabilize him.

All time I had ACC active, no MAG, no BARO, no GPS! All Bl controller have the same values programmed with a programming card.

I tried the following values in the the MultiWiiConf_1_9.exe:

YAW ever the same: 8.5
ALT ever the same: 4.7
VEL ever the same: 0.0
LEVEL ever the same: 9.0
MAG ever the same: 4.0

RATE 1: 0.0
RATE 2: 0.0

Throttle PID: 0.00

RC RATE: 0.9
EXPO:0.0

Now changes:

#1
P=4.0
I=0.030
D=23


#2
P= 5.6
I= 0.036
D= 15


#3
P= 5.9
I=0.036
D= 15

I don´t now thats wrong with the MultiWii. I´m grateful for all help I can get.

Regards, Nils

[PatrikE]

When you lower the throttle to much the stabilistion stops.
It's a safty precaution if you move the chopper by hand with motors armed.

there's a hack you can do in the code but i dont remember exactly what.

But if you rise the throttle trim to the point where it starts stabilize it will always stabilize .
Backside is you must trim down to be able to Arm/Disam.

/Patrik