Pixhawk AutoTune crash

ArduCopter Copter 3.4
1

Hello,

My hexacopter crashed a few days ago and I cannot find out why exactly. It was after I tried to autotune it, I don’t know if it could be the reason. Here is a list of things I found out during the flight and in the flight logs:

1: At the end of the flight, the copter’s roll wasn’t responding at it should have.
2: It disarmed at the end of the flight because the crash check activated.
3: I checked the servo power rail and it seemed fine.

I know why it crashed (crash check), but I don’t know what happened to the roll of my copter for it to fail.

I joined the flight logs via a DropBox link from the Pixhawk and I hope you’ll be able to help me.
Firmware on the Pixhawk is AC3.4.6

Thank you

2

There is no CURR in the log.
Do you have the Battery Sensor hooked up and calibrated?

What size Hex?
Build details?

You seem to have a mag deviation that mirrors your roll almost exactly.
Have you done the compass/motor calibration?

The roll is overshooting and ringing for the whole flight.
Are you using the default parameters?
Have you set the AUTOTUNE_AGGR parameter?

Screen Shot 2017-03-26 at 5.41.34 am.png2427×858 411 KB

Screen Shot 2017-03-26 at 5.46.01 am.png2406×736 342 KB

3

No I don’t have a current sensor, because the ones I had weren’t powerfull enough, but I ordered one and it should arrive soon.

I have an Tarot 680 Pro with 33cm long blades. 2 8000mAh 6s were plugged.

No I didn’t do the compass/motor calibration, I wanted to do the autotune first, but next time I’ll do the compass/motor calibration in first.

I pretty much have the default settings and the AUTOTUNE_AGGR is set at 0.1 (agressive), because on the AutoTune page of ArduPilot, it was written to set it at 0.1 to begin.

Thank you for your help!