I’m disable GPS checks because i’m have GPS unhealthy messages which related to GPA.delta abnormal - maybe related to CUAV NEO 3 GPS which working with CAN line or maybe other problems - dont know… at the same time, both gps always have 3dfix.

My mixer for all motors

{ 22, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1 },

{ 22, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2 },

{ 53, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3 },

{ 53, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4 },

{ 114, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 5 },

{ 114, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6 },

{ 164, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7 },

{ 164, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 8 },

{ -164, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 9 },

{ -164, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 10 },

{ -114, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 11 },

{ -114, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 12 },

{ -53, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 13 },

{ -53, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 14 },

{ -22, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 15 },

{ -22, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 16 },

Big number - upper motors

Ok.

I’m try what you say and test again. thanks.