I have no idea how does the multicopter crash.
When executing RTL, the multicopter start to tilt in a dangerous angle and then flip&crash
I had tested these modes: manual/althold/loiter/auto, and RTL function.
It works fine more than 5 flights. And I think it is stable.
But…
This graph is derived from Mission Planner “Log Browser”. Maybe there is something wrong with the motors.
Besides, I found that the similar case by the following link copter.ardupilot.com/wiki/common … sing-logs/
It says that the actual curve and the desired curve mismatch is caused by mechanical failures.