The drone is not stable during flying

[Yousef1 (Yousef)]

Greeting,

I am flying a hexacopter drone and it was not flying previously because my large motors were underpowered as I was using a 4S battery. Now I am using a 6S battery and it is actually flying but it is not that stable as it goes to the left direction slowly even when I am in a Loiter flight mode which requires me to move it to the right back again.

I am using Arducopter 4.4.2 for X frame hexacopter drone with the following parts along with the bin file links:

2023-11-09 11-13-08.bin

2023-11-09 10-54-54.bin

FC: Holybro Pixhawk 6C
GPS: Holybro M8N
Frame: ZD850 Hexacopter frame
RC: FlySky FS-i6 (using PPM protocol)
Motors: FlyCat I-Rotor 5010-360KV
Propellers: Ready to Sky 1555 (2 blades)
ESC: Ready to Sky 40A OPTO 2-6S (PWM)

I tried to fly the copter in auto-tune mode, stabilize, and Loiter and I felt like the copter was not stable enough.

[dkemxr (Dave)]

@Yousef1

flying but it is not that stable as it goes to the left direction slowly even when I am in a Loiter flight mode

Are you at least looking at these logs before posting them?
Downloading and analyzing logs
It’s never in Loiter because the position is bad from not enough GPS sats. And running Auto Tune at this point is a waste of time.

Set these parameters and make another hover flight in Stabilize or AltHold mode only.
INS_ACCEL_FILTER,10
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
PSC_ACCZ_I,0.4
PSC_ACCZ_P,0.2

You will have to wait until the GPS has found enough Sats for good position.

Follow this procedure 1st, you are on default parameters:
Setting Motor Ranges