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Do much more precise flips by making both pitch and roll axis rotate at the same rate! UPDATE: My theory as to why this is happening was incorrect, but my fix is correct. TLDR: Adjust your pitch and roll rates while flying line of sight to get your quad rotating equally along both the pitch & roll axis. Updated theory as to why this happens: Several factors (PIDs, mass distribution, distance of the thrust from the center of rotation, etc) all apply to some degree. They don't effect the speed of rotation, but they effect the acceleration to, and deceleration from your desired roll/pitch rate. If you do a single rotation, that acceleration and deceleration is therefore what makes the time difference. In my case it is caused by the higher P gain on the pitch axis causing the quad to accelerate to the desired rotation rate faster. If I would have done multiple rotations so that the quad was not having to accelerate/decelerate, but maintain a constant speed, both the pitch and the roll rate would have been the same. But I mean how often do you do multiple rotations? At least for me 90% of the time its a single flip or single roll or a combination of the two. I rarely just do like 10 flips in a row =) There is a lot more in depth discussion on this page and the next page. http://www.rcgroups.com/forums/showthread.php?t=2464844&page=2284

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