I am trying to get the pitch to work correctly when I use an analog joystick to pitch forward, at around 45 degrees it begins to hum, as it gets lower it gets louder and louder, sort of whining and high freq oscillation. If I tilt it up a few degrees it goes away. I have not been able to remove this with any settings. Power PID.

Also it seems like angle limits here don't work. It stops around 45 degrees down. It works fine on the tilt up no hum or oscillation. I double checked balance. Any ideas?