I've been working on an FX-79 quadplane build and am have started hover testing. However, when it takes off it seems fine for about 1-2 seconds the starts yawing left and I can't get control of it. Here is a video: https://www.youtube.com/watch?v=5EbzGHl4CL0&feature=youtu.be I have tuned the quad PIDs to get rid of vibrations seen in the video, but it still does that yaw left. The CoG is slightly forward of the center of the quad motors, but not by much. I also noticed the compass offsets were fairly high, so I tried moving the GPS out near the nose and a bit higher, far away from any power distribution but still saw the same effect. Any thoughts would be very helpful!
The dataflash log contains a couple takeoffs in qloiter and qhover.
2017-08-14 18-53-39.bin (439.1 KB)