Unstable takeoff in loiter mode

ArduCopter Copter 4.5
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1

Hello, I have quadcopter frame. So I connect pixhawk 6c and upload Ardupilot firmware. I did initial calibration and extended tunings to the frame. After stabilize take off is ok. When I changed to Loiter and Alt hold when fly they also ok . But I try to take off loiter. Then drone try to flip and and waving. I set the IMU Offset also. Do you have solution for this. I have uploaded Log file, parameters and video.

https://drive.google.com/drive/folders/1edo3Dv6-yoZA-XzzRMQpG-9I74Z40V0W?usp=sharing

Hope your help.

Thank you

2

The best and simpler solution is to follow this

1 Like
3

Thank you for you reply I read your documentation before and did same as you mentioned. I did not follow all steps. But follow main steps. I never faced problem like this. Do you have any Idea why happen like that case. In this frame FC not in the middle. Its on the front base. I made IMU offset related to that.

4

Yes, I have a very clear idea of what happened and what caused it: “You did not follow all the steps”.

All steps are required, and in that particular order, if they were not required, they would not be there.

2 Likes
5

Thank you. I will follow all steps and then tell you about the result soon.

6

And you need to install and use the latest version of the software.

Reading the instructions and using MissionPlanner or QgroundControl instead of AMC will also not get you the results you want.

Other users have done that and got a crippled system.

The main points are:

  • Edit the parameter’s New value and Reason changed fields to match your vehicle (marked with the big red number 5),
    • The Reason changed field is extremely important because:
      • if forces you to think, causing rational decisions instead of impulsive ones
      • justifies your decisions on a vehicle certification process required in most countries
      • allows for someone else to see if you know what you are doing
      • allows for someone else (or yourself after a few weeks) to understand your rationale
1 Like
7

I will follow tuning part as you said that. Thank you for the advices also.