I have been puzzling over this problem for a long time and can't work out the answer.

My roll axis is free to rotate to about 45 degrees in each direction before it meets any physical restraint. In one direction it works perfectly but in the other direction as the roll increases it always stops rotating about 5 degrees before it meets any physical constraint and starts missing its next step - ie it just gently flicks about that position. I'm confident this isn't simply a power problem since the problem is consistent over a range of power settings and the balance seems fine to me.

I'm using 2.56 b7 with a frame IMU; it is not generating I2C errors at this point.

Obviously, you could argue that this isn't a big issue as I'm only losing a few degrees of roll, but can anyone suggest what might be happening here?

Thanks