Problem: Unexpected/unexplaind quad twitching with MPU6500 based FC. Cause: This behavior appears to be a vibration induced artifact that affects the MPU6500 gyro. Work around: Vibration isolation. Place rubber o-rings, rubber standoffs or other vibration islolating device between the standoffs and the flight controller (FC). Source: MPU6500 sensitivity to damped light Example Video: twitching issue