hi @jlecoeur here are some logs from when I was about to take off.
In the first log, I tried shifting the trims from their center position (for pitch - so I shifted it backwards). That seemed to make it start tilting sideways. So you can see some non-zero setpoint values in the roll/pitch plots.
In the rest of the logs, I re-caliberated the radio, accelerometer, gyro, and level horizons. I also increased the I gains for roll and pitch from 0.05 to 0.15; it still pitches forward. Don’t know if it’s a tuning issue.
I’ve actually gotten it in the air before, but the issue is that it is quite difficult to fly because it pitches forward constantly. Moreover, I’m flying indoors and because it needs enough thrust to get it to overcome the pitching and get in the air, it ends up shooting off into the ceiling which I don’t want.
I have already extended the length of the tail arm outwards. Though I’m now thinking of pushing it back in as I just realised that the tail motor is slightly at a higher level compared with the front two due to the servo mechanism it sits on. So in theory it should have a shorter length compared with the other arms yes?? Not sure about this though.
Looking forward to your comments and suggestions. Thank you