Drift at takeoff and behaviour difference between SITL and real vehicle

ArduCopter Copter 4.5
1

Hi Everyone.
I have matek slim h743 and flysky fs-i6 and its receiver. They communicate via SBUS.
I have two main problem

1 - first problem is when I try to take off it shift to right with bit right yaw.
2 - right stick control roll in real life where as MS or QGC it is in mode2 and working fine.
there is a difference between real life and simulation.

2

The first point is caused by sub-optimal accel calibration combined with “hardware yaw imbalance”.
Redo accel calibration and fix your motor mounts.

Please give more details regarding the second point

3

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it is right here.
In PC

  • Left stick controlls yaw and throttle and right pitch and roll.

When I fly the drone in real life

  • Left stick controlles throatle and roll, left controls yaw
4

Assuming you use the same RC controller in both situations the issue is a SITL misconfiguration.

You need to configure the RC SITL parameters the same way you configured your real vehicle parameters.

5

okey thank you I will follow your guide I think I messed up propellers order now drone is not taking off with very high throttle value.

6

I switch and try different combination of propellers placement and non of them worked. some make it to spin on the ground. Can you help me to figure out the placement. I have frame type X in MS. and standard quadcopter.

7

I find the issue Motor numbers were wrong!
I set them from ParamList and it worked!