my drone, Tmotor P60 motors, Hobbywing Xrotor 60A esc, cube orange, 6s 22Ah, 22inch prop.
arducopter version 4.0.7
we have a lot of random issues (50deg difference between attitude vs desired attitude) after pid’s tuning.
the drone appears to be a perfect flight and perfect pid tuning, in althold and loiter modes, but random, there is an unexpected behaviour like a pitch back 50degrees in althold mode randomly.
we dont now if the problem is a pid’s bad tuning, a mechanical problem, esc desync…
I add the bin file if you can tell me some explanation of this random issues.
sorry, i dont have now the bin file, only the param file. tomorrow i send you the bin file of the flight log.
how we can see if the problem its a momentary esc desync?
when we see the log actual attitude (in pitch roll or yaw) vs the desired attitude, we see that the 2 lines are very similar, but randomly, there is a lot of divergence, about some times 50 degrees of difference and we see how the drone make a very dangerous movements, randomly.