APM 3.2.1 yaw issue

ArduCopter Copter 3.2
1

Hi everyone

I’m new here and hope you guys can help me with a strange problem.
My Quad is a standard X config with a 3dr pixhawk running apm apm:3.2.1

Short after starting, the copter tends to yaw clockwise. Sometimes slow, sometimes faster.

What I’ve done so far:

  • ECU Calibation (SimonK type)
  • Compass Calibration, also replaced GPS/Compass Module
  • IMU Calibration
  • MOTD Calibration
  • Vibration checks

I’ve to idea what to do next. Please help!
Logfile is attached

Thank you!

  • Chris
2

Just by chance have you leveled your motors? If one is tilted it can cause that for sure.

Sent with recycled packets…

3

Yes, the motors are perfectly leveled.
They’re mounted upside down and measured in place with a pattern and a laser.

Any other ideas?

4

Double checked the levels again, everything is fine.
I did a test with DJI Naza using standard pid without any problems.
Also swapped Pixhawk & GPS from another copter to be sure no hardware problem. No changes…

  • Christian