How to Improved this Drone setup?

PX4 Autopilot
1

Hello ,

Im finally able to make a 9kg drone fly. But the performance is not that good.

Px4 v1.15.4
QGC 5.8.3 Stable (PC)

  • Dummy Payload : 1.7kg ( To simulate Gremsy Gimbal with Multispectral Camera)
  • Drone Total Weight is around 9kg
  • Hobbywing X6-se motors/esc
  • Pixhawk 6x
  • M10 GPS (Holybro)
  • Microhard Telemetry Radio P900 (holybro)
  • Radiomaster Tx16s
  • Drone Frame : Jis M40
  • Battery : 6s 30Ah Tattu (2.4kg)

Last Test Flight of the Drone

Px4 Log Link (.ulg) : https://review.px4.io/plot_app?log=fa84547d-c68e-4889-8b39-049f5dbe17f6

  • ULog with Dummy Payload (1.7kg ) . This makes the drone total weight 9kg

  • Observed here was the Power consumption is too fast, that the values goes down to below 22.2v which makes the display of battery widget in Qgroundcontrol set to 0v sometimes.

  • Also like warning about avionics low power

Earlier Flight Test :

Currently, the drone movement is very scary during flight at altitude of 70m

  • No Payload , Total Weight of Drone is around 7.3kg

Also we have observed that the Drone sometimes slows its propellers down which is too visible that it looks like it is losing power.

**Px4 Log Link (.ulg): https://review.px4.io/plot_app?log=135faa49-f47a-49cb-960a-b4d63922fe90

  • No Payload , Total Weight of Drone is around 7.3kg

Video link here : June 24 2026 - Tanay Rizal - Google Drive **

Is there a way to improved this Drone’s performance ?

Thank you

2

Hello,
Must post logs of flight test with load and without load to actually understand the scenario. Also disconnecting the Gremsy gimbal do a flight test log.

3

Hello

thank you commenting.

logs from review.px4.io is already attached/included.

also 1st (Ulog) review.px4.io Link is with Dummy Payload (1.7kg ) thus making the Drone total weight to 9kg

The Dummy Payload is a carton box with almost same dimension with the gremsy gimbal (Pixy S) and camera(Multispectral) and inside the box is some stones/sands to get the 1.7kg weight similar to the Payload that is intended to be attached on the Drone Unit.

2nd (Ulog) review.px4.io Link is the flight log of the Drone without the Dummy Payload which makes the Drone Total weight around 7.3kg.

also the Gdrive Link has a video of the actual flight of the 2nd Ulog link .

thanks

4

I also want to note that in the video, the it is too visible the props is slowing down / stopping midair during the flight test. I dont know how to fix that. or is there something wrong with my parameter configurations ?

5

If your props were stopping in mid air, be sure the drone will tilt and fall…this is just an illusion

6

Try measuring the voltage at from the power supply of the flight controller, there seems to be a problem there and also calibrate the voltage in the power tabs of QGC.

Your roll, pitch and Yaw setpoint seem to be allover the place, a better PID tuning wil defenitly improve the performance. Also carry out the correct sensor calibration procedure before flight.

Measure the exact current draw of your motors, this will give a better idea about flight time estimation. Perform an endurence test to see if your flight time estimation is in ocoradnce with your real flight test.

you can reduce the x and y velocity and max roll and pitch angle to your liking.

as mentioned @sibujacob the motors are spining fine, its seems to be not spinning in the video because the frame rate of the camera and motor rpm are close to same for a small duration.

7

In Qgroundcontrol the P Gain in rollrate is not shown in Pid Tuning Tab
Should this be touched especially on drones 9kg and above ?