743 based images goes crazy in offboard mode

[Yulian_Oifa]

Hi , When using Matek 743slim or MicoAir 743 the drone is going crazy in offboard mode.
I have simplified the scenario to simple 0.3 throttle to take off with quaternion target set to 1,0,0,0
The thrust target and quaternion target are ok, however the real quaternion goes wild and drone is rotating near the land. Motors are on actuatators 6-9 due to the problem with 2-5 which are used by uavcan, so we have moved all the motors to 6-9 instead.
The logs analysis attached.What could lead to this?

Yulian

[Yulian_Oifa]

I have found the problem. The motors are not properly indexed when using actuators 7-10 ( not matching the positioning of quad ). As result invalid motors has been throttled and drone was going crazy…