My copter can't fly in Attitude Hold well. I need help

ArduCopter Copter 4.3
1

I use
FC: Kakute H7 mini
ESC: hobbywing micro 60a 4in1
Motor: Brotherhobby avenger 2806.5-1700kv
Prop: 51466
Battery Lipo 6s
Firmware: ardupilot copter 4.3.3
Total take off: 2-2.1 Kg
I use Inital Paramater Setup to set my copter. However when I fly AltHold mode my copter can’t take off. I change MOT_THST_HOVER from 0.2 to 0.52. My copter can take off in AltHold but it can’t hover and slowly landing when Throttle stick still up. Anybody have solution ???

2

It’s only conjecture without a .bin log, but trying to lift 2+ kg with those props and motors sounds like a tall order…

3

To echo what Yuri_Rage says, I predict for 2.1kg you will need props twice the size and motors half the KV, or twice as many.
If using a BLHELI ESC set
Low RPM Power Protect = off