What is your Pixhawk 6C drone’s weight?
I think your drone may be overpowered.
You can try to secure a dummy weight to see if it improves.
Take note of your drone’s centre of gravity when adding dummy weight.
Thrust auto learn will not happen if the learned value is below 0.125.
By the way, your drone is fitted with a 9" or a 7" propeller?
If 7", change MOT_THST_EXPO = 0.54.
The rest of the initial parameters look like a 7" drone.
Please do not disable any arming check.
EK3_SRC1_POSXY,3
EK3_SRC1_POSZ,1 # try default first.
EK3_SRC1_VELXY,3
EK3_SRC1_VELZ,3
EK3_SRC1_YAW,1
