quadcopter shakes violently while flying

If you are using Damped Light, try disabling it on the esc.

Have you balanced props?

Do the props track properly? - point Motor 1 Prop at Motor 2, and spin Motor 2 prop, watch as the blade comes around and its relationship to the height of the other blade. You are looking for a chance of height.

Is the naze hard mounted? Try hitting a local hardware store and grab some M3 (3mmx1.5mm about) silicone/rubber o-rings. Install above and below FC. I got some at a Ace Hardward in their metric section. I think some also just go straight to double back sticky tape to mount FC.

The Naze should have blackbox capability, enable it, it won't last long but you can get some logging out of your next flight.

 

The prop check is just to check for a bent prop, it happens.

-What about balancing the blades for weight?

So the Naze is in a box and taped to the frame? That is fine, no need for o-rings.
-Is it centered in the frame?

ESC - Make sure all ESCs are running the same firmware and that are showing the same signal points (calibrated the same).
-Are you running Damped Light?

-Also, are you using Angle/Horizon/Rate mode?

It could be the pids, but I would think it would fly better than this off stock pids if you are not having vibration problems. Spinning up on a desk can cause the FC to do funny things because of the vibrations of sitting on a hard surface being in the air, in my experience. Though the only time I have had random motor accelerations on the desk was from Damped Light.

 

Not sure how your motors could keep spinning after disconnecting the battery . When you disarm or go to zero throttle, do the motors stop immediately or spin a little bit and more slowly stop? If they slowly stop, you aren't running damped light. If you have a way to balance the props, give it a try or at least check them. I have had balanced props that weren't even close. If you don't have a way to balance, look to add that to your tool bag at some point.

Can you give me to the link to the ESCs you are running?

Are you calibrating the ESCs through cleanflight? If there is a noticeable difference to when the motors start up, I would try calibrating again.

Granted the quad was oscillating badly, did it seem like it responding correctly to your inputs?

You could try reducing your gains further, but if the last adjustment did not make a difference, I would think it is not gain related.

Verify what we have for ESCs,
Update ESC firmware if possible
Calibrate ESCs

Using cleanflight with the props off, spool one motor up at a time, see if you notice one making a lot of noise or vibration as well.

 

Post a couple more pictures from cleanflight including a couple of your configuration tab and also one of the receiver table while your receiver powered on and all sticks centered.

 

I was hoping they were BLHeli, you could still flash SimonK but I have never tried it on my escs and you would probably need a usb programming card for them, so we can pass on that at the moment.

I have had my number 2,3 motor output dance in cleanflight (CF) while controlling tx as well. It was a vibration issue for me. It was a hard mount flight controller (FC), one piece frame, strong motors.

As well as more pictures out of CF, post a couple of the quad, including the FC and wiring.

Also lets re-calibrate escs:

a - verify in CLeanFlight throttle signal. Zero throttle = 1000 and max throttle =2000. Adjust your throttle end points in TX to get here.
b - minimum command on config tab CF should be 1000, max throttle 2000.
c - go to the motor tab and click i understand the ricks to enable motor testing
d - increase master throttle to max (2000)
e - plug main battery in
d - once beeping stop, move master slider to (1000)
e - at this point it should a final beep sequence and you are done.

 

Keep upping the P gain till it starts to twitch. Too much p will give a very tight quick oscillation.

Based on Weight, Arm Length, Motor KV, Which rev of firmware on Flight Controller......(list goes on) there is not much for a normal gain.

 

What is the loop time number set to in Clean Flight?

 

Hard to see in the video but if the battery is on top, try to locate it under the CofG. It happened once to me.

 

I had a very similar issue, caused by too much dampening on the flight controller. I had mounted the FC to the frame using insulating material which was too soft, so vibrations were induced into the Naze32. I removed the dampening material and used some double sided foam for mountaing instead and the issue was instantly resolved.

 

RC Rate and Expo will only make the multirotor feel faster or slower to my knowledge based on your moving the sticks and won't probably help much with the oscilation trouble.
Rate = Higher rate will increase the overall movement or speed to which the craft reacts
Expo = Allows you to smooth out the center and push the more aggressive movements to the extreme stick positions. It makes center stick "softer" to help with slower movements.

As you adjust these PIDs, watch your motor temps, after flowing for a period of time on new settings, check your motors for overheating. They might get warm, but if you feel like they are hot, you may have adjusted too far.

To Paul's point, how is the FC mounted? You could have too little or too much dampening. If you are using a foam, you could try 3M or similar double back sticky tape or you could even try hard mounting it.

To Dave's point, I don't know if you will have room to put your battery on the bottom with this frame, it looks like a F450 style frame with no clearance underneath. If you cannot move the battery, make sure it is mounted firmly. If you can move the battery around after you strap it in, it is too lose and fast control movements could cause the battery to move back and forth would only add another problem too the ordeal.

In Horizon mode, the slow "balance" (I assume this is slow self level) - This is probably too high of a D term. Low D speeds up correct, High D slows down correction.

If it is has gotten better at 11.5, what about say 12, 13, 14, 15?