Hexacopter behaves strangely in flight

ArduCopter Copter 4.5
1

I made my pre-flight arrangements properly. In Hover Learn mode, I flew on the axes and adjusted the ths_hover and PSC_ACCZ_I and PSC_ACCZ_P parameters 3-4 times. Problem: My Hexacopter behaves strangely in modes such as poshold and land, especially in land mode, it slows down its speed very quickly and oscillates. When I looked at the RCOUT values, I saw that the thrust was sufficient. What do you think is the reason? Can you help me?

Since I cannot do this part, I cannot move on to parts such as harmonic notch filtering or autotune. Can you give me a different tip?

FCU: Pixhawk2 Cube Black
GPS: Here3 only Can1
Prop : Eolo 17x6.2
Motor: Sunnysky V5210
ESC: Skywalker 60A V2 (I am not using feedback cables yellow and white ones)
Bat: 16000 mAh 25C
Weight: Estimately 5-6 Kg

2

Tune it better and more methodically using the ArduPilot Methodic Configurator.

Pay special attention to the Notch filter settings, and follow all the steps in the order they are presented. Do not be creative!

Until you got this issue solved, you should only use stabalize node. No poshold, nor land mode.

3

CubeBlack only got 256KB RAM, I noticed under 4.3.8 it becomes very warm compared to the earlier firmware version. so, I have since migrated to CubeBlueH7 or Orange.

By the way, it is on the first or second flight based on this configurator sequence as @amilcarlucas mentioned.

have you calibrated the ESC? Your Motor minimum looks unusual in my experience.
Have you set the MOT_SPIN_ARM and MIN wrongly from the Motor Test UI? I think you need to find out your ESC/Motor MOT_PWM_MAX and MIN. I think Skywalker is 1100 - 1940 us / 1960, cannot remember. Maybe enable this LOG_FILE_DSRMROT,1.

I am also curious whether you will hit the underweight issue running at a low motor percent curve. 17" prop → (2.806kg x 6 / 2.4) = 7.015kg.

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This is mine.

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