Fail to take off in altitude mode

Dear PX4 Community,

I am new to PX4 and currently working on flying my quadcopter (X500 V2) indoors within a large factory, so I removed the GPS module and installed a TFmini Plus rangefinder for altitude measurement. However, the quadcopter consistently flips over immediately after takeoff, and I can’t figure out why.

Here is my log file log

Is the orientation of the Pixhawk set up correctly? And are the motor outputs assigned correctly?

That would be my first guesses.

Thanks! I’ve checked motor outputs and orientation again, and everything looks fine. I think I’ll try to lower rate controller gain, maybe its too aggresive.

I would remove the props and check whether the motor outputs make sense when you move it around.