Unusual Roll and Pitch

ArduCopter Copter 4.0
1

Hello People,

I’m pretty new to the operation of Quad copters and I encountered an unusual roll and pitch motions during flight. If anybody can help me figure out what exactly might have happened and possible solution, it would be amazing. I have attached log below

2

Have you followed the mandatory initial tunning instructions in mission planner?

And update to ArduCopter 4.4.0, you are using 4.0

3

Update to the latest firmware.

Set up a notch filter. Look up throttle based filtering. Managing Gyro Noise with the Dynamic Harmonic Notch Filters — Copter documentation

Once the filtering is setup then you can look to re-running autotune.

You might also want to look at running Magfit to improve the compass calibration. Refining Calibration Parameters using a Flight Log — Copter documentation

The battery voltage looks really low. If that’s a LiPo battery you’re destroying it by running it so low.

4

In addition to what @Allister said one of the 1st things you check well before running Auto Tune is if the outputs are oscillating. They are:

RCout
RCout3335×1024 414 KB

After updating the firmware set these parameters:
INS_ACCEL_FILTER,10
INS_LOG_BAT_MASK,1
INS_LOG_BAT_OPT,4
PSC_ACCZ_I,0.56
PSC_ACCZ_P,0.28
And set these as per the Initial Tuning Parameters:
MOT_BAT_VOLT_MAX
MOT_BAT_VOLT_MIN

5

Thank you for your reply, will work on notch filter and magfit. Will update progress once done

FYI I use Li-Ion 4S battery