[quote=“saadman”]What is your MOT_SPIN_ARMED parameter? If it is zero it means your props will stop spinning at zero throttle which is what you don’t want according to what you said. Also, you may want to change your throttle mid position to something more reasonable so that the copter hovers at 50% throttle and not lower.
Other than that, I would advise using alt_hold mode and perhaps set a larger descent rate than specified so that you can have a quick but controlled descent without the danger of stopping your props completely.
Finally, I know this will be tricky, but make sure your center of gravity is near the middle of the copter to avoid flips ands so forth when it falls without power. (If you are trimming lots on your pitch/ “aileron” channel it may be one indication of bad balance.)[/quote]
Thank you for the input. I’ll check MOT_SPIN_ARMED tonight. What is a reasonable value for this parameter? On my Pixhawk quad, the motors turn at minimum throttle, albeit just barely enough to keep the vehicle level on the ground. On the Pixhawk hex, the motors come to a complete stop which is what I’m almost certain is happening in the air.
I’m not concerned about the COG, because I built the entire thing from scratch and designed it to be radially symmetric (except the battery pack, which is bilaterally symmetric and balanced front-to-back).