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I could reproduce the problem. It is caused by the additional mass and moment of the ASUS camera, that was never tested with the new controller implementation. For some reason the Kinect model in our hector_sensors_description package has almost no mass, while the ASUS Xtion has a mass of 200 g.

Proposed solution at Github: https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues/12

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