Pixhawk problem


I have tarrot x6 with Pixhawk. When I was tested him I noticed three problems. First was hard to calibrate accelerometer. Second when hi was in the air, and when I was flying to the left hi was going down, and when I was flying to the right hi was going up. The last problem was, suddenly hi was slowly going down with no control, that was not RTL mode.

Does anyone know what is wrong ?

Thank you for any help

Please provide the following to help troubleshoot your issue:
What version of ArduCopter are you using?
What version and kind of Ground Control Station?
tlogs and/or dataflash logs

ArduCopter 3.3.1
Mission Planner


Now everything is ok, ESC was incorrectly calibrated.