Hi Tilman
since we don't really have one standard airframe setup for beginners I
would propose to make the Bixler that one (with Lisa/M 2.0 and Aspirin
2.1).
I added a really simple no-frills example for a Bixler:
https://github.com/paparazzi/paparazzi/blob/v3.9/conf/airframes/examples/bixler_lisa_m_2.xml
The gains are not tuned (I don't have a Bixler), so this is just a
start... you also need to make sure the servo defines are ok for your
airframe.
I'll be happy to update that example if you have a known-to-work config...
It is probably better for you to start with a basic setup before you
start adding/using some additional options and picking random stuff
together from other airframe files...
So in that example the IMU, AHRS and control runs at the default 60Hz.
You can do better if you increase that, but that adds more complexity
in configuration...