Gyro drift (?) makes Takeoff impossible (Pixhawk 2.1 / dji S900)

PX4 Autopilot Configuration & Flight Modes ⚙️
1

On the following setup I’m experiencing some weired behavior:

  • Frame: dji S900 (Hexarotor)
  • Flight Controller: Pixhawk 2.1, “the Cube” without external GPS
  • Receiver: Spektrum AR610 and PPM encoder

As visible in the graph below, shortly after arming three motors start spinning high, while the remaining three stop completely. The drone had contact to ground all time and was in flight mode “Manual”.

Actuators.png1990×1048 156 KB

Has anyone experienced a similar problem, or maybe a solution to fix this?

(complete log can be found here)

2

Have you performed a Thermal Calibration of the IMUs? I’m not sure this is really connected to thermal drift as the time is pretty short.

Are you sure about:

  • Spinning direction of the Props
  • Connection Order
  • FC Orientation

What FlightMode have you been using. AFAIK a pure Manual Mode is not available for Multirotors so it probably was Acro or Rattitude? Takeoff shoud usually be performed in Stabilized Mode.

3

May I ask what firmware you are using for the s900

4

What ESCs are on that bird? If they are 30A Opto stock DJI, you need to flash to BLHeli firmware, or replace them. Let me knowif this is the case, and I will post links and suggestions. Best of luck!