Unstable Flight and Sudden Drift After Autotune on 7" Quad – ArduCopter 4.5.7

ArduCopter
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1

Today, I flew my 7" quadcopter running ArduCopter version 4.5.7. When I increased the throttle, I noticed significant vibrations causing the quad to oscillate up and down. However, after reaching a certain altitude, it became stable, and I was able to successfully complete an autotune.

Log:

After that, I disarmed the quad and disconnected the battery. On the next flight, after reconnecting the battery and arming the quad, it exhibited uncontrollable vibrations and suddenly moved rapidly in one direction. In a panic, I disarmed it immediately.

Log:

Video:

Please check the system logs and help me understand what went wrong.

2

This is often a symptom of strong thrust-to-weight ratios in compact quads.

PSC_ACCZ_P = 0.1
PSC_ACCZ_I = 0.2

After the change, fly to ALTHOLD.

after a good flight

PSC_ACCZ_P = MOT_THST_HOVER
PSC_ACCZ_I = 2*MOT_THST_HOVER

ATC_THR_MIX_MAN = 0.5

3

Speedybee F405 V4 - Bad AltHold oscillations / Crazy PID-Alt logs - ArduCopter / Copter 4.6 - ArduPilot Discourse

4

Is it because of Optical flow sensor?

5

You can not autotune with an of sensor!

Disable that. Autotune and then reenable it.

6

Thanks.
Also I could see pitch is reversed.
Could you please check log file for issues, mistakes iv made in parameters.
I really didn’t get anything from log file.