Copter tips of to front left side. (Stabilize mode)

ArduCopter
1

Hardware:

  • Cube Orange + Kore carrier board
  • Here4 GPS/Compass (DroneCAN)
  • 2 LightWare lidars, 1st - facing forward, 2nd - downwards. On I2C. I have set 1st lidar as EK3_SRC2_POSZ - RangeFinder.
  • Herelink telemetry
  • ArduCopter v4.5.7
  • Frame: Quad X

Issue:
Drone tips over during takeoff. Props and motors were verified in Motor Test tab. Props are correct.
I had the drone in Stabilize mode.

PreArm Errors:

  • “Check mag field (xy diff:158>100)” (I have tried disabling the internal compass and flying with that, and same issue)
  • “Gyros inconsistent” (only get once)

PreArm checks

  • “EKF primary changed:1”
  • “AHRS: EKF3 active”

Compass Setup:

  • Using external Here4 over CAN
  • Internal compass status: enabled
  • COMPASS_USE = 1
  • COMPASS_EXTERNAL = 1
  • Compass mounted orientation: default

IMU Info:

  • INS_USE = 1
  • INS_USE2 = 1
  • INS_USE3 = 1
  • INS_GYR_ID = 3081250
  • Cube not moved during boot

Any advice appreciated!

2

you can check the log file to see the RPM spin, how are they spinning. under RCOUT (pwm output to individual RC outputs):
you can also place the drone on a flat sea level plane and do a simple Accel Cal to see it improve the situation.

please also double check the Motor pin assignment.
I think you could have underutilized the carrier board capability for a Quad configuration.

1 Like
3

datalog
datalog3409×1618 234 KB

this is rcout datalog.

4

2025-05-07 16-40-15.tlog (626.6 KB)
here is different log file

also one of the log files.

6

We prefer the *.bin file if you have.

image
image787×201 12.4 KB

7
8

Your Cubeorange seems to have a lot of errors. You may want to solve that first.

Have you flown a full manual drone before?
Are you setting up a 7" propeller drone using Cube Orange + Kore carrier board?
Has the CubeOrange been injured (drone crash) before?
I would recommend turning off (via parameter) the unnecessary lidars for the first flight test. Turn them back on after tuning is completed.

Secondly, I think you are trying to do your first flight. As the firmware has not learn what the right propulsion for your drone is yet, if the throttle is spring-loaded, you should not spring the throttle stick back to the middle after arming. You should do very small throttle stick movements (up and down), try your best to hold the throttle stick position. The objective is to hover and be ready to switch to Alt-hold flight mode to learn the drone propulsion. Make sure your 7" drone CG is within the 4 motors.

1641 5/7/25 20:14 MSG 145141158 ArduCopter V4.5.7 (2a3dc4b7)
1642 5/7/25 20:14 MSG 145141166 ChibiOS: 6a85082c
1644 5/7/25 20:14 MSG 145141190 CubeOrange 003D003F 34325113 31353837
1645 5/7/25 20:14 MSG 145141200 Param space used: 1683/5376
1646 5/7/25 20:14 MSG 145141207 RC Protocol: SBUS
1647 5/7/25 20:14 MSG 145141217 RCOut: PWM:1-14
1648 5/7/25 20:14 MSG 145141223 New mission
1649 5/7/25 20:14 MSG 145141228 New rally
1650 5/7/25 20:14 MSG 145141234 New fence
1651 5/7/25 20:14 MSG 145141254 Frame: QUAD/X
1653 5/7/25 20:14 MSG 145141285 GPS 1: specified as DroneCAN1-124
2193 5/7/25 20:14 MSG 146032070 GPS 1: error changed (0x00000000/0x00004000)
12973 5/7/25 20:15 MSG 163611277 GPS 1: error changed (0x00004000/0x00000000)
21378 5/7/25 20:15 MSG 176978356 EKF3 IMU2 MAG0 in-flight yaw alignment complete
23928 5/7/25 20:15 MSG 181374249 Arm: Yaw (RC4) is not neutral
24378 5/7/25 20:15 MSG 182039307 GPS 1: error changed (0x00000000/0x00004000)
25723 5/7/25 20:15 MSG 184139095 Arm: Yaw (RC4) is not neutral
31934 5/7/25 20:15 MSG 193611770 GPS 1: error changed (0x00004000/0x00000000)
32203 5/7/25 20:15 MSG 194036801 GPS 1: error changed (0x00000000/0x00004000)
43238 5/7/25 20:15 MSG 212413780 GPS 1: error changed (0x00004000/0x00000000)
43821 5/7/25 20:15 MSG 215033405 GPS 1: error changed (0x00000000/0x00004000)
43822 5/7/25 20:16 MSG 232411291 GPS 1: error changed (0x00004000/0x00000000)
43823 5/7/25 20:16 MSG 239032326 GPS 1: error changed (0x00000000/0x00004000)
43825 5/7/25 20:16 MSG 255018446 GPS 1: error changed (0x00004000/0x00000000)
47036 5/7/25 20:16 MSG 262253896 GPS 1: error changed (0x00000000/0x00004000)
51785 5/7/25 20:16 MSG 269961058 Internal Errors 0x100000
54105 5/7/25 20:16 MSG 273978434 EKF3 IMU2 MAG0 in-flight yaw alignment complete
56898 5/7/25 20:16 MSG 278799045 GPS 1: error changed (0x00004000/0x00000000)
57993 5/7/25 20:16 MSG 280639593 PreArm: Internal errors 0x100000 l:57 flow_of_ctrl

You may want to reduce the up and down speed for now.

PILOT_SPEED_DN,0  #125, suggestion
PILOT_SPEED_UP,250  #100, suggestion
9

Yes i’m setting up 7" drone for testing (planning to move to a much larger drone), using Cube orange on Kore carrier board.
Drone flipped 2-3 times because of this problem, but the kore/orange doesn’t seem to have any visual defects.
I have installed new firmware and have disabled lidars/optical flow. Using only gps (here4).
when starting up I get “PreArm: Gyros incosistent” once. I haven’t flown after installing this new firmware.

I’m also interested what gyrosq, gyrosq2, gyrosq3, represent in status tab. On bench they fluctuate.
gyrosq, gyrosq2 → 0-3
gyrosq3 → 0-5 (0-6)

10

@lukapkhala take a look at this to fix your current and future problems: