Velocity innovations suddenly peaked up causing erratic behaviour

Siva_Sudhamsu_Gunti · December 4, 2025, 5:21pm

Hexacopter (Spraying drone)

FC: Cube orange plus
GNSS: custom board (M9N)
Motors: X6+
MTOW: 25 kg

After take-off the drone in Loiter mode, there was weird behaviour which caused erratic pitch oscillations and uncontrollable, switched to AltHold and landed. After analysing the logs, there was sudden velocity innovations. May I know why it caused and consequences? Attaching the log here.

Thanks.

amilcarlucas · December 4, 2025, 6:15pm

Was the vehicle tuned acording to the documentation or was it adhoc tuned?

dkemxr · December 4, 2025, 8:43pm

I would be interested in the Tune question also. The vertical controller gain parameters are not right.
That is some very old firmware.

Siva_Sudhamsu_Gunti · December 5, 2025, 11:13am

only basic tuning was done as per documentation.

Siva_Sudhamsu_Gunti · December 5, 2025, 11:14am

Unfortunately, the firmware is locked by management.

LupusTheCanine · December 5, 2025, 5:18pm

Firmware locked by management, vehicle grounded by technician .

dkemxr · December 5, 2025, 6:07pm

You got this wrong:

PSC_ACCZ_I to 2 x MOT_THST_HOVER
PSC_ACCZ_P to MOT_THST_HOVER