Drone is tipping over upon takeoff in stabilize

Hello. My apologies if I miss anything upon posting as this is my first post and first time configuring a drone. Our drone is an X-config custom build quadcopter with the specifications below.

The specifications are:

  • Pixhawk Cube Orange+
  • ArduCopter V4.5.7
  • AM116A ESC
  • 22 in props
  • SunnySky X6215S KV350
  • 62000mAh 22.2V 6S2P 5C
  • 13.6 kg (in total weight including battery)

The issue I am facing is taking off in stabilize mode for the drone. The drone consistently will begin tipping when increasing throttle for takeoff every time to a point where it tips before being able to leave the ground. It however tips depending on the orientation. If the drone is facing north on takeoff it will tip west, and south on takeoff it will still tip west. Motor test show that each motor is correctly spinning in the right configuration (per ArduPilot docs).

We have ensured that the ESC configuration is correct using BLHeli and calibrated and RC channels are correct. We however are waiting on our component for reading battery capacity on the drone, so we cannot present battery values midflight just yet if this would have an affect. We have began adjusting PID values, but the issue still persists.

Would anyone happen to have any feedback or suggestions regarding this issue? Again, my apologies if I have missed anything regarding this post or what else is needed. Any feedback would be greatly appreciated, thank you.

Param and BIN file

Thrust/weight too low. Plug those specs into eCalc. But check the Motor order and direction with Mission Planner’s Motor Test anyway as this is the usual problem with what you have described.

Even Sunnysky’s recommendation for these motors, props and battery power is on the low thrust/weight side IMO at 3kg:
Recommended single take-off weight ≤3000g

Thank you for the suggestions! We were able to tackle the issue, and the eCalc did help. We are modifying the system for a 12S build for the future, and the components as well so thank you for the suggestion.

……………………

Good plan!