-8 deg pitch angle setpoint on takeoff

I’m having issues during takeoff where my multirotor pitches up or back on take off, this happens every time, no matter the mode (Stabilize or AltHold)

Things to Note:
I do not have a GPS installed.
I’m running a mRo Pixhawk 2.4.6
The board is mounted SENS_BOARD_ROT: 4 = Yaw 180°


You can see in the Flight Logs that the Pitch Angle jumps down to -8 degrees on takeoff.
The pilot has to hold 35% forward pitch to get a “normal looking” vertical takeoff.
Eventually you see pitch figure itself out after about 20sec of flight.


Any suggestions on how to prevent the pitch back on takeoff would be great!

@Crazy1Pilot what you observe is the integrator in the pitch controller that takes some time to adapt to an imbalance on your platform.

The fix is either to move the CG, or use a different mixer adapted to your geometry.

First, you have to make sure that you chose the proper mixer. I saw that you use octo coax wide, which is not a symmetric geometry. Please check that your motors are positioned as written in the corresponding geometry file: https://github.com/PX4/Firmware/blob/master/src/lib/mixer/geometries/octa_cox_wide.toml (measured from the CG)