So we were trying to do a flight where we takeoff in stablize and then reach altitude of 5 meters and then changing to althold for 30 seconds and then land with stablize. However when changing to althold the drone start drifting and swinging and then crashed. Our drone is about 15kg with 30 inch propeller . We havn’t also done any autotuning yet we have used the default pids.
here is a drive that contain the flight logs: flight logs - Google Drive