Almost crash incident

ArduCopter Copter 4.0
1

Hello Everyone,
I have been flying an octoquad this past couple of days and I was testing the autonomous flight features with a CADDX gimbal and video transmitter. Around minute 4 and 27 seconds into the flight log (and during flight) there was a crazy movement in the drone, it yawed aggressively to the left and continue the mission as if nothing has happened. I have been reviewing the log and can see the attitude crazy numbers (also lost a couple of motors during the flight but happened afterwards) but I dont no why the crazy movement, I know Im missing something. if anyone is good at viewing log files and can tell me or teach me what to look for I would appreciate it.

Here is the bin file and video: Arduilot Folder - Google Drive

Have a great day

2

I think the problem is poor tuning.

What’s with Motor 10 ?
Set SERVO9_FUNCTION,0

Set these:

ARMING_CHECK,1
ATC_THR_MIX_MAN,0.5
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2
INS_HNTCH_HMNC,1
INS_LOG_BAT_OPT,4
LOG_BITMASK,180222

I’m not sure why you’d fly and be attempting video while only Roll is tuned, and Pitch and Yaw is all at defaults.
Check all motors/props are aligned and all spinning on the same plane. Eliminate any motor-mount or arm twist. Try to get the copter well balanced too.

I would set these and do some proper test flights to evaluate the tune with logs, and follow the rest of the process (probably an Autotune).

ATC_ACCEL_P_MAX,100000
ATC_ACCEL_R_MAX,100000
ATC_ANG_PIT_P,8.0
ATC_ANG_RLL_P,8.0
ATC_RAT_PIT_D,0.006
ATC_RAT_PIT_I,0.12
ATC_RAT_PIT_P,0.12
ATC_RAT_RLL_D,0.006
ATC_RAT_RLL_I,0.12
ATC_RAT_RLL_P,0.12
ATC_RAT_YAW_I,0.03
ATC_RAT_YAW_P,0.30

Use AltHold and Loiter, do ascents, descents, circles and some general pitch and roll plus hovering. Dont jump into doing missions and cinema photography yet.

The Methodic Configurator would step you through the entire tuning process if you started with that - it’s not too late.

EDIT:
You need exactly these battery settings, plus the correct failsafe actions I specified above:

BATT_ARM_VOLT,14.70
BATT_CRT_VOLT,14.00
BATT_LOW_VOLT,14.40
MOT_BAT_VOLT_MAX,16.80
MOT_BAT_VOLT_MIN,13.20