Copter uncontrollable at takeoff (Stabilize Mode)

I’m a newbie trying to using a Pixhawk 2.4.8 Autopilot to fly a quadcopter in Stabilize Mode. I have a confined space to fly the drone because I am only allowed to test it indoors presently so I don’t have a GPS fix.

When I arm the drone in APM Planner (on MacOS) , the propellers start rotating normally but the moment I throttle up slightly, the drone flies up without any user input and crashes into the ceiling, even with a very slight throttle applied.

I’m not quite sure what could be causing this and I initially thought that the issues could be the Pixhawk thinking that the battery was too low and triggering a failsafe but there doesn’t seem to be any indication of this in the only logs I could find. I have copied some of the relevant text if anyone is interested.

I am using a Taranis QX7 radio transmitter and an FrSky XSR receiver.

UAS:: Attempt to Arm System

[20190312 14:20:33.856 INFO ] - APM ARM System

[20190312 14:20:34.487 DEBUG] - Param: “GND_ABS_PRESS” : QVariant(double, 98490.1)

[20190312 14:20:34.489 DEBUG] - APM: Text Message rx’d “SUCCESS: Executed CMD: 400”

[20190312 14:20:34.489 DEBUG] - Severity: 0 text: “SUCCESS: Executed CMD: 400”

[20190312 14:20:34.778 INFO ] - Arming State Changed: ARMED

[20190312 14:20:34.779 DEBUG] - APM say: “armed”

[20190312 14:20:34.780 DEBUG] - UAS: new base mode 209

[20190312 14:20:34.780 DEBUG] - MODE: 209

[20190312 14:20:34.781 DEBUG] - “A|STABILIZED”

[20190312 14:20:37.850 DEBUG] - UAS: new system_status 4

[20190312 14:20:39.942 INFO ] - STATUS TEXT: 6 : “EKF2 IMU1 in-flight yaw alignment complete”

[20190312 14:20:39.943 DEBUG] - APM: Text Message rx’d “EKF2 IMU1 in-flight yaw alignment complete”

[20190312 14:20:39.944 DEBUG] - Severity: 6 text: “EKF2 IMU1 in-flight yaw alignment complete”

[20190312 14:20:40.064 INFO ] - STATUS TEXT: 6 : “EKF2 IMU0 in-flight yaw alignment complete”

[20190312 14:20:40.065 DEBUG] - APM: Text Message rx’d “EKF2 IMU0 in-flight yaw alignment complete”

[20190312 14:20:40.066 DEBUG] - Severity: 6 text: “EKF2 IMU0 in-flight yaw alignment complete”

[20190312 14:20:40.359 DEBUG] - HBD: Heartbeat stopped

[20190312 14:20:40.376 DEBUG] - HBD: Heartbeat started

[20190312 14:20:45.652 INFO ] - UASActionsWidget::armButtonClicked

[20190312 14:20:45.652 INFO ] - UAS:: Attempt to Disarm System

[20190312 14:20:45.653 INFO ] - APM DISARM System

[20190312 14:20:45.901 DEBUG] - APM: Text Message rx’d “FAILURE: Failed CMD: 400”

[20190312 14:20:45.902 DEBUG] - Severity: 0 text: “FAILURE: Failed CMD: 400”

[20190312 14:20:46.644 INFO ] - UASActionsWidget::armButtonClicked

[20190312 14:20:46.644 INFO ] - UAS:: Attempt to Disarm System

[20190312 14:20:46.645 INFO ] - APM DISARM System

[20190312 14:20:47.159 DEBUG] - APM: Text Message rx’d “FAILURE: Failed CMD: 400”

[20190312 14:20:47.160 DEBUG] - Severity: 0 text: “FAILURE: Failed CMD: 400”

[20190312 14:20:47.761 INFO ] - UASActionsWidget::armButtonClicked

[20190312 14:20:47.762 INFO ] - UAS:: Attempt to Disarm System

[20190312 14:20:47.762 INFO ] - APM DISARM System

[20190312 14:20:47.995 INFO ] - UASActionsWidget::armButtonClicked

[20190312 14:20:47.995 INFO ] - UAS:: Attempt to Disarm System

[20190312 14:20:47.996 INFO ] - APM DISARM System

[20190312 14:20:48.145 INFO ] - UASActionsWidget::armButtonClicked

[20190312 14:20:48.145 INFO ] - UAS:: Attempt to Disarm System

[20190312 14:20:48.146 INFO ] - APM DISARM System

[20190312 14:20:48.298 INFO ] - UASActionsWidget::armButtonClicked

[20190312 14:20:48.299 INFO ] - UAS:: Attempt to Disarm System

[20190312 14:20:48.299 INFO ] - APM DISARM System

[20190312 14:20:48.393 DEBUG] - APM: Text Message rx’d “FAILURE: Failed CMD: 400”

[20190312 14:20:48.394 DEBUG] - Severity: 0 text: “FAILURE: Failed CMD: 400”

[20190312 14:20:48.744 DEBUG] - APM: Text Message rx’d “FAILURE: Failed CMD: 400”

[20190312 14:20:48.745 DEBUG] - Severity: 0 text: “FAILURE: Failed CMD: 400”

[20190312 14:20:48.777 DEBUG] - APM: Text Message rx’d “FAILURE: Failed CMD: 400”

[20190312 14:20:48.778 DEBUG] - Severity: 0 text: “FAILURE: Failed CMD: 400”

[20190312 14:20:48.918 DEBUG] - APM: Text Message rx’d “FAILURE: Failed CMD: 400”

[20190312 14:20:48.919 DEBUG] - Severity: 0 text: “FAILURE: Failed CMD: 400”

[20190312 14:20:50.796 INFO ] - UASActionsWidget::armButtonClicked

[20190312 14:20:50.797 INFO ] - UAS:: Attempt to Disarm System

[20190312 14:20:50.798 INFO ] - APM DISARM System

[20190312 14:20:51.077 DEBUG] - Param: “STAT_FLTTIME” : QVariant(int, 523)

[20190312 14:20:51.080 DEBUG] - Param: “STAT_RUNTIME” : QVariant(int, 53137)

[20190312 14:20:51.359 DEBUG] - APM: Text Message rx’d “FAILURE: Failed CMD: 400”

[20190312 14:20:51.360 DEBUG] - Severity: 0 text: “FAILURE: Failed CMD: 400”

[20190312 14:20:56.274 INFO ] - UASActionsWidget::armButtonClicked

[20190312 14:20:56.275 INFO ] - UAS:: Attempt to Disarm System

[20190312 14:20:56.275 INFO ] - APM DISARM System

[20190312 14:20:57.109 DEBUG] - APM: Text Message rx’d “FAILURE: Failed CMD: 400”

[20190312 14:20:57.112 DEBUG] - Severity: 0 text: “FAILURE: Failed CMD: 400”

[20190312 14:20:57.331 DEBUG] - HBD: Heartbeat stopped

[20190312 14:20:57.366 DEBUG] - HBD: Heartbeat started

[20190312 14:20:58.495 DEBUG] - UAS: new system_status 3

[20190312 14:20:59.595 INFO ] - UASActionsWidget::armButtonClicked

[20190312 14:20:59.595 INFO ] - UAS:: Attempt to Disarm System

[20190312 14:20:59.595 INFO ] - APM DISARM System

[20190312 14:21:00.498 DEBUG] - Param: “MOT_THST_HOVER” : QVariant(double, 0.356568)

[20190312 14:21:00.499 DEBUG] - APM: Text Message rx’d “SUCCESS: Executed CMD: 400”

[20190312 14:21:00.499 DEBUG] - Severity: 0 text: “SUCCESS: Executed CMD: 400”

[20190312 14:21:00.501 INFO ] - Arming State Changed: DISARM

[20190312 14:21:00.502 DEBUG] - APM say: “disarmed”

[20190312 14:21:00.502 DEBUG] - UAS: new base mode 81

[20190312 14:21:00.502 DEBUG] - MODE: 81

You will need to post a flight log (.bin file) from the flight controller as described here.

The Data Flash logs is where the answers may be.

You can set your failsafes to not increase altitude when triggered.
It’s all in the Wiki.

I don’t have access to the flight controller so I can’t access the .bin files. However, I can see that in some of the tlog files in APM planner, the accelerometer vibrations on the z axis registered over 60/m/s when the quad was in the air. This may be the culprit.

The Tlog is not a good indicator of vibration. The sample rate is too low to be of much value. Bin file or you won’t know.