Unexplained Violent Pitch and Roll Values

ArduCopter
1

Params.param (16.8 KB)

While trying to maintain our altitude and position the copter violently rolled right, there was some pilot input but not to the extent of that. It also seems like there was a miscommunication with the DesPitch and AttPitch values, same with the Roll values. I have attached the .bin file. Crash starts around 16:17:06. Disregard the file name, we thought we put it in loiter mode but actually didnt. .bin

2

I have a ton more .bin files as well if that will help, we saw this type of crash twice, here is the [link] (Initial Crash.bin - Google Drive) for the other crash which was very similar.

3

We halved all the PID values and flew again, seemed much more stable in pitch and roll, there is still some overshoot in yaw. Here is the .bin file

The params file attached above is for this flight