Drone crash on RTL on descend, drone started to tumble (Hobbywing X6 Octo) (Please help to Analyze Log))

ArduCopter Copter 4.2
1

Drone started to to tumble after RTL reached home point on descend:

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On log motor1 stopped completely
Maybe first issue can be is too low hover throttle - it’s only 7% (i don’t know how to fix that…)

Log here:
https://drive.google.com/file/d/1ZtoyskdQFKAhCInhOJOw3sz1oLvnd4Wo/view?usp=sharing

2

Hi DangerD,

You did not setup the initial parameters as per the tuning guide.
INS_GYRO_FILTER is 46, which is too high for a 23" propeller system. Your motor outputs are also noisy because of this. Notch Filter is also not setup.
Vibrations are also a little on the higher side
Battery Monitor Setup is also not done properly, because current data doesn’t make any sense.

It seems you have done auto tune without initial manual tune
Your PIDs are quite low because of that.

I will suggest you to read the tuning guide and follow it to the word

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