I got a major problem during takeoff of our quadcopter tiltrotor fixed wing vtol.
I use tyi 340kv motor x4
35 amp esc
5000mah 30c battery
Takeoff wt is around 6kg
Log attached: https://review.px4.io/plot_app?log=69cf58fd-74ab-4953-a315-11fb4c643363
Could be a lot of reseons, please check motor allocation and motor spin directions, then try PID tuning. The estimated roll and pitch do not even try to follow the setpoints. I noticed the motor outputs are extremely scatered, could be noise too.