We are trying to get a Hexacopter (Tarot X6 frame) with a Pixhawk Cube Orange+, Arducopter v4.5.1, Castle Creations DMR 30/40 ESCs and Tarot 5008 KV:340 motors, 18in CF props, in flight condition.


The only thing that is non-standard, is we have a 2 ½ ft (0.76 M) carbon fiber pole, standing upright, mounted to the center, on top of the frame. This will eventually hold a wind sensor and the pole + mounting equipment weighs 1.2 Lbs (0.54 KG).


We have attempted multiple flights inside our outdoor cage and each time we take off in Stabilize mode, the UAV would roll over to the right. Things we have checked so far.

  • RC is calibrated
  • ESCs are calibrated
  • Autopilot orientation is correct (verified through setting and by tilting it and confirming on mission planner HUD)
  • Compass orientation is correct.
  • Fame type is set to X and Hexa (verified motor assignment and it is set up for X and not CW X, X is what we want)
  • Motor rotation is correct
  • Props are mounted correctly for rotation and not upside down.
  • Motor spin test (without props) and manually tilted the drone on the roll and pitch axis, to ensure the autopilot reacts appropriately (used graphing function on the channels to confirm).
  • Motor spin test (without props) in stabilize mode. Used RC input on roll and pitch and confirmed with motor spin and graphing function that the motor were reacting appropriately. This also confirms that my RC channels are not inappropriately reversed.
  • Checked CG on craft with the weight only varying 0.03 Lbs (0.01 KG) on a 21.63 Lbs (9.81 KG) vehicle.
  • None of the PID tuning parameters have been altered, they have been left as default.

I’ve worked with UAVs professionally for over 11 years and have never had this much trouble with a drone. We thought after the first two flips it might have been too light (forum posts suggest a 10-12KG MTOW is fine) and was getting knocked around by the wind but this last roll over, I added a 5 Lbs (2.26 KG) counterweight and it reacts the same. Any advice would be appreciated.

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