Sudden fall of desired altitude leads to improper takeoff

Hi all,

The drone is not properly taking off. I have observed that there is sudden dip in the desired altitude.
log_142_2021-4-2-08-33-40.bin (672 KB)

This generally happens with the first flight of the day and then it behaves normally.

Nothing much to see in that log to indicate a problem. Why don’t you update to latest Stable version of Arducopter (4.0.7 today) then configure the Initial Tuning Parameters in Mission Planner from the Alt>A plug-in. Update Mission planner to latest beta 1st. Running on old firmware with default parameters isn’t the best choice.