I am trying to set up a hexacopter with Ardupilot 4.0 and Pixhawk 4. Before I get into the problem I want to mention that the vehicle flies fine with Pixhawk 4 and Px4, however in order to test something I want to use it with Ardupilot.
Everything is calibrated (all sensors and ESC). What happens is that on the ground when arming (stabilized mode) at idle throttle motors do not work at the same speed (servo output is uneven). As I increase throttle stick position the difference becomes even bigger to the point that the vehicle is banked forward with servo outputs for motor 3 and 5 (front) much lower than the other ones.
I tried correcting attitude by commanding “pitch up”, however vehicle is still banked forward.
In loiter mode similar thing happens.