The more I read, the more confused I get when it comes to the programming of Quads, I really thought I was up to it last year when I built mine, but at this point, I think it would be much better for me to send this off to someone who really has a true understanding of the protocols and such and maybe be able to test fly everything and then just send it back to me ready to go. Of course it would mean having to pay for the help, but right now it is the only option I have. Any takers?
Well...if you were within driving distance of the Central Coast in Australia...I would came come arround...
Instead what I suggest you do is step back and take stock. IMHO - starting into quad build with a 250 racer - was the hard way. These - as you may have found - are not easy to fly for a newbie - even one who has flown model aircraft.
I started just 13 months back and since then have assembled 2- 500 frames, 2 - 450 frames and 2 - 250 frames. The big frames all use 2212 920kv motors and without understand PIDs - each took some time to sort out. The only reason I build so many - was trying different "manufacture" motors and other bits till in the end I bought a frame to take the excess!
I still do not fully understand PIDs. I understand a mile is also so many yards , feet and inches or a kilometer is so many meters, centimeters or millimeters.
The PIDs - to me - don't seem to have a scale of comparison!
I suggest you just check your build and make sure its OK, no screws sticking up into the motors, the fixing screws through teh arms are equally tight - check often the vibrations loosen them - ditto all screws and nuts. Did you get the Centre of Gravity correct - even with the battery in place. What is your standard of soldering? If its OK then that may not be a negative, if its new to you- I suggest you get on YouTube and watch a lost of the build tutorials for how to solder. Is your wiring neat and tidy? snag with motors and ESCs on a 250 frame is... put together as they arrived and the wires are far to long. The experienced guys will cut the wires to a length that suits the frame and their way of placing the ESCs. Newbies ( us) tend to place the components and fold or twist the wires, so putting a strain on any wire that has a dry joint of a less than perfect solder join - can cause issues.
I found my biggest problem on stabilization was down to mis-matched ESC. These need to be matched to tune out any oscillation that unmatched may inject into flight characteristics.
IF you have updated your FC from OpenPilot to LibrePilot - check this out.
ESC Calibration - LibrePilot Documentation - Confluence I am not familiar with the Robocat - so maybe if you list its motors , ESC and anything else you added - it may help.
IF you have crashed a few times...its possible you have bent motor shafts - it may not seem so to your eyes...but your ears should pick up a high pitched whine and maybe you eyes can pick out a wobble when you try to hover it. Have you balanced your props?
I suggest you put this frame away and start a biger build, 450 frame, 2212 - 920KV or even 820kv and use 9" and or 10" props. 30A ESC SimonK are perhaps better to o start with.
The idea is to get a quad that is not trying to set a world speed record. Slow everything down and ease off the pressure of trying to control it. Flight controllers are a matter of choice. The CC3D is perhaps the easiest and cheapest. I use the "standard" CC3D, Revolution ( for the GPS) and the Atom for the 250 frames. I also have Naze32 and and 10 dof FC....and Christmas will bring the Naza lite M combo!
If you pay somenbody to sort one frame - you will never learn how to build the second one! So your choice really is...buy RTF stuff, or start again fron day one with a build ...and use this forum as your tutor.
We are ALL new on here irrespective of our level. There will be some experts in all classes of quads on here soon and we all like to return the help we got when we started out.