I am working on a long range build and the drone flys okay. But when I yaw aggressively or fly backwards the drone becomes very unstable and will lose control, when full throttle is applied the drone will flip forwards. I cant tell if it’s caused by the asymmetric motor placement or if there is just some really bad noise and I’m not good with tuning. I have autotuned multiple times and this issue still persists.
00000142.BIN (744 KB)
^ This is a short flight recreating some of the issues
Any help is really appreciated
Set ARMING_CHECK,1
You haven’t configured the notch filter yet. That will help get a better tune.
I think the big issue is the MOT_SPIN_MIN seems like it is set really high (0.24) and the motors are running on min value for a lot of the flight. This can lead to control saturation if the min speed is too fast. MOT_SPIN_ARM is still at default setting (0.10) so it makes me thing these need to be fixed.
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The reason I have MOT_SPIN_MIN so high is because when I drop the throttle the drone will lose control and starts tumble free falling. Also Ill try to get a harmonic notch filter setup up thanks for letting me know.
That doesn’t actually help with control, you need to configure airmode for rate control at 0 throttle in direct throttle modes.
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Hey so I’ve tried setting up a harmonic notch filter and I’ve watched a lot of videos about it. But I still cant really get it to work and honestly the drone seems to fly worse with a filter, I’m just not super good with this type of tuning stuff and cant get it set up properly 
Do you think betalight is easier to setup for drones? I’m only familiar with ardupilot with planes.
I would recommend trying Ardupilot Methodic Configurator. Start from scratch and follow the process.
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Post a log with the filtering data being recorded. There are plenty of us here that will help you set up the filter. Most people tend to over filter and that creates problems. You probably need less than you think.
Betaflight defaults will give you a good enough flying ~5" quad from the start. Ardupilot setup is a little more involved but you can do so much more that most of us find it worth the time. The methodic configurator will take out a lot of the guess work if you’re not familiar with the process for Ardupilot.
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Instability at low (or high) throttle is a symptom of incorrect MOT_THR_EXPO value.
The Ardupilot Methodic Configurator software explains how to change the parameter if the vehicle is unstable at low throttle .
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