Drone braking behavior is very strange

The entire braking process of the drone seems abnormal. It follows this sequence:

Braking → Stops → Drifts → Braking again.

System Configuration:
Flight Controller: CUAV x7 pro
Firmware Version: ArduPilot 4.5.7


Request for Help:

  • Has anyone encountered a similar issue?
  • Is further hardware tuning or parameter adjustment required?
  • Any suggestions for possible causes or solutions would be greatly appreciated.

Thank you so much for your help!

We would need to see a .bin log to know what’s going on. Also describe the copter some more - prop size, maybe weight, and so on…
What flight mode are you using?

Thanks for your reply!
Here are the additional details about the copter (Quadcopter):
Prop Size: 43-inch
Motors: 85kV
ESCs: 150A
Weight: 39kg
For the flight mode, I was using Loiter mode
Log2025-01-20 15-23-46.bin - Google Drive
Please take a look and let me know if you need any further information or clarification.

Thanks again for your help!

You need to set these correctly:

BATT_ARM_VOLT,51.70
BATT_CRT_VOLT,49.00
BATT_LOW_VOLT,50.40
BATT_FS_CRT_ACT,1
BATT_FS_LOW_ACT,2

If you have any trouble with those voltage levels, rather than changing those values, check your charger, battery connections and batteries.
Current measurement is not working, you should check BATT_CURR_MULT

Your pitch tuning is not as good as roll, see if you can do a bit more there.
The copter could almost definitely benefit from setting up the harmonic notch filter.

Try these for Loiter, they are usually OK on a variety of copters:

LOIT_ACC_MAX,600
LOIT_BRK_ACCEL,200
LOIT_BRK_DELAY,0.3
LOIT_BRK_JERK,300

Thank you so much for your detailed response and valuable suggestions! Due to a busy schedule recently, I haven’t had the time to test these settings, but I will make sure to try them as soon as I get the chance. I really appreciate your help, and if I run into any issues during testing, I’ll reach out. Thanks again!

LOIT_BRK_DELAY=0
Setting LOIT_SRK_deLAY=0 is sufficient, but it is not suitable for manually operating the aircraft to coordinate large angle turns.