ok, i just went round and tightened all of the screws on the frame and on the motors. this definitely seems to have improved the flying, but its still far form perfect. i'm pretty sure now that vibrations are mainly what are causing the problem. i'm going to put some graupners on in the next couple of days, which i'm hoping will help. also my gains weren't right when i tested just now, so thats making it more difficult. i'll correct that for next time. i can now get it into a hover but now and then it was rocketing upwards. i'm glad to have made some progress, but i really hope i can solve this completely