Hi,
I have replaed the blades on my Heli to be CCW instead of the normal CW
I have changed the ESC to CCW, also flipped the motor wires to run CCW
do I need to change anything in the parameters.
I hovered yesterday and there was Yaw Imbalance 40% warrning message.
I Have set the Servo4_min max and trim the way that give full left/right and 0 at middle. no bending.
my tail servo is Xpert R2T and the numbers are lower than normal servos.
note: I flow this setup with my old Pixhawk 4 years ago with no issues.
2- can anyone tell me if all my PID vibrations and other reading normal?
am I rady to switch to Auto tune?
the heli drift bad to right and not staying stable.
Thank you
Ozzy
https://www.dropbox.com/scl/fi/2pco7hi53ovnltlda2nb4/2025-03-28-02-05-31-1.rlog?rlkey=0xsg8i9axi6j98m3mixus0t0m&st=7p7zeg1m&dl=0
https://www.dropbox.com/scl/fi/rkuckyqonreqwppbmuxr5/2025-03-28-03-51-32.tlog?rlkey=p148s3lfpnb83ctpmuweyoiwh&st=pl0u2r65&dl=0
https://www.dropbox.com/scl/fi/ok6pvo9rvd0kf5svucmbm/2025-03-28-04-17-31.tlog?rlkey=sz0hzoizi60i15gijq74q2twl&st=zuzr2n9j&dl=0
https://www.dropbox.com/scl/fi/ok6pvo9rvd0kf5svucmbm/2025-03-28-04-17-31.tlog?rlkey=sz0hzoizi60i15gijq74q2twl&st=2jpflr59&dl=0
https://www.dropbox.com/scl/fi/ucsejtydsnlf1iqzxikp6/2025-03-28-04-17-31.rlog?rlkey=mm5hyb8ncopy8l71ai4pcb000&st=iaaum8m7&dl=0
Doesn’t that effectively cancels out? Changing direction in ESC and swapping motor wires changes situation by 360deg 
1 Like
Did you also change the blades of the tail rotor to the other direction?
yes, sorry forget to say that, I changed the tail direction too
I flipped the grips upside down and the main gear hub (oneway bearing) to other direction.
I changed the oneway bearing inside the plastic gear, also changed the tail direction,
I see the when I have 0 midstick the servo arm not 90 degrees,
because that will give 0 pitch and 100 each side.
now I cut the tail ( servo pushrod) by 4mm to bring the servo arm to 90
then I will re-change the Max and min value based on the 90 degree servo arm.
and will test fly… wating for the glue to dry 
by doing this to reduce the error if any
Thank you
after adjusting the lenght of the pushrod and th tail servo arm now perfect 90D at 0 pitch
the problem still there! 
the bird frifting badly to the right isde.
the yaw Imbalance at 40% somtimes go and somtimes apear!
do I have to do the manual PID tuning after upgrading the Pixhawk to the 6c mini?
if that the case, then I must start over with the PID!
other problem; if you look into the pic of the telemetry, the battery cell voltage was reading 3.64 during the flight but the batteries are new HRB 9500mah 120c @ 1.1 Ris Ohm each cell.
the battery cell on ground after the flight is 3.92V each cell ! I have 8s total at 9500mah.
so why there is big voltage drop during the flight?
and why the MAH shwoing 23750?
to mush issues!
edit: changed the ATC_HOVR_ROL_TRIM from 300 to 0
the drifitng to the right become much less, the brid drift slow back and little right.
the Yaw imbalance 40% still there…
thank you
https://www.dropbox.com/scl/fi/umsd9ekx1r7uf6bh96ams/2025-03-30-01-06-55.bin?rlkey=24j6nx2th37km4q6haqdyr8ry&st=8cfnim0c&dl=0
https://www.dropbox.com/scl/fi/4jxxgwg66zmjta83xhqyx/2025-03-30-00-17-07.tlog?rlkey=bcp4ag0brh3b2lf2f9kv9vzwa&st=0s46f1do&dl=0
https://www.dropbox.com/scl/fi/mvvufu3avf3onjvyxv0il/2025-03-30-00-17-07.rlog?rlkey=45ggzxgluusyu0gszc656dbnn&st=0qxaa3vo&dl=0
closing this post and opening another one.
