Y6 with APM cant take off

Hi everyone,

I have an issue with my Y6 which I just cannot solve. Built, and rebuilt the system, changed APM boards etc, but no luck.

At each take off the copter tries to kind of flip, first it feels like nose heavy than in just banks left or right.

I am using the Y6b param file, with the correct motor orders and prop setup.

I have attached a log, when analyzing it i see a huge difference in DesRoll and Roll and DesPitch and Pitch, which may be a mechanical failure (?) but everything looks ok. I have even changed boards.

Everything is genuine 3DR.

THanks for any help