i need your help by analyzing the graphs and copter behavior.
i build a Hexacopter with 4000g (Tarot 680 frame). In manual-mode it flyes well but if i start a mission it occurs sometimes that the copter tries to reach a mission-waypoint (nearly no wind) and than rapidly goes higher and higher. In appendix you can find the log files. In the x-axis (21:40) you can see clearly this behavior. The copter gets very unstable here. I tried to reduce the thrust in position mode (with my taranis x9d), but this was also not working good. The copter was jumping here.
Which parameter should i change to get a more stable behavior.
Thank you for your help.