=SOLVED= Yawing in wrong direction (not radio?)

So I've been looking on this site and others for a few hours now and I can't seem to find anyone with the following symptom...

When I push my stick to the right, the copter yaws (turns) to the left.  And visa-versa, push stick to the left  the copter turns to the right. (I originally thought radio too at first but it doesn't seem so)

Also when the copter hovers, it yaws back and fourth quite quickly. I barely get off the ground before this starts happening, so I've been testing it by lightly holding it in my hand and letting it move how it wants.  It will spin one way then back to the other. 

Originally I was chasing up that weird back and fourth yawing behaviour, but I tried some yaw stick input from the controller when I discovered the yawing seems to be reversed.

I've checked my radio and and PWM is high (~1900) when pushing stick to the right, thus low (~1000) when pushing stick to the left.

I've done radio calibration

Live compass calibration

Accel calibration multiple times (cause I changed my board orientation a few times, and yes I did the calibration AFTER I change the board orientation)

ESC calibration

Balanced the motors

Balanced the props

Did a compassmot

Triple checked the motor connections

If the copter isn't yawing, it does hover in the air well, and reacts appropriately when tilted in different directions.

I am currently on a small miniframe (260size frame?) and I'm using the HK Mini version of the APM 2.5 board.  I'm currently using the onboard compass.  No GPS connected yet

I've tried disabling the Use Compass For Yaw param, but that had no effect from what I could see.

So I'm at a bit of a loss where to look next.

See attached log files.  I had a look through them for anything obvious and I even compared it to other quadcopters I fly with other APM boards but could not see anything that points out what I might have mis configured.

If my symptom is not obvious, I can do a video later on tonight and upload it to youtube :)


So I had my copter set to use the H Frame type, which has the motors spinning in the opposite direction to that of most X Frame setup types.

So as a temp measure I set the firemware to use X Frame type and the copter began to behave correctly when Yawing.

I hope future people with this symptom see this post and find it helpful :)

2014-07-12 13-31-00 8.log

2014-07-12 13-21-35 7.log

2014-07-11 13-08-11 5.log

You need to be a member of diydrones to add comments!

Join diydrones

Email me when people reply –


  • Like you and several others we know, we have lost countless hours on this problem.

    1) Where can we read and follow these types of software changes?

    2) Where does it say reverse the motor rotation?

    PS: Seem to me it will make it twitchy especially in pitch direction because the thrust is moved closer to the CG. (Center-of-Gravity) We fly "H" frame in "X" frame mode. What were they trying to accomplish? 

    Also been reading there is some software problem with the compass orientation, related to internal and external compasses interfering. Looks like compass calibration has a bug:


    Google Groups
    Google Groups allows you to create and participate in online forums and email-based groups with a rich experience for community conversations.
  • Had exactly the same issue!

    Changed PC in the middle of a flying day and one flight was fine the next it would not fly! 

    Turns out that somehow the new PC had change the frame type ... took some figuring out!


  • Check propeller rotation direction.
    • I have checked it time and time again.  But you are correct, it is a motor rotation problem, BECAUSE I had the frame set to "H Frame", which requires the rotation of props to spin the opposite to a common X and V frame (the usual quads I build)

      So Once I set it to an X Frame, the copter behaved correctly.

      I herped the derp :S

  • Hi ChiggenWingz, is you compass orientation set correctly? What compass setup are you using? Does the HUD direction rotate correctly and smoothly in one direction when turning the copter in one direction? 

    • Yep pretty sure its set correctly.  I've watched it through Mission planner, and North was North, South was South

This reply was deleted.


DIY Robocars via Twitter
May 15
DIY Robocars via Twitter
May 14
DIY Robocars via Twitter
May 13
DIY Robocars via Twitter
RT @f1tenth: Say hi to our newest #F1TENTH creation for @ieee_ras_icra next week in Philly. It’s going to be huge! 😎 🔥 @AutowareFdn @PennEn…
May 13
DIY Robocars via Twitter
May 11
DIY Robocars via Twitter
May 8
DIY Robocars via Twitter
RT @SmallpixelCar: Noticed my car zigzagged in last run. It turned out to be the grass stuck in the wheel and made the odometry less accura…
May 8
DIY Robocars via Twitter
RT @SmallpixelCar: Test my car. RTK GPS worked great. Thanks @emlid for their support. https://t.co/EkQ6qmjmWR
May 8
DIY Drones via Twitter
RT @chr1sa: @kane That's @diydrones circa 2009. Still have a box of those Canon cameras that we used to strap into planes, just like this.…
May 3
DIY Robocars via Twitter
RT @chr1sa: Our next @diyrobocars race is going to be outside at a real RC racetrack in Fremont on May 28. Fully autonomous racing, head-to…
Apr 30
DIY Robocars via Twitter
RT @f1tenth: Our Spring 2022 F1TENTH course @PennEngineers is coming to an end with a head-to-head race as a big finale. So proud of our st…
Apr 26
DIY Robocars via Twitter
RT @DanielChiaJH: I wrote a thing! Throughout the development of my @diyrobocars car I've been using @foxglovedev Studio to visualize and d…
Apr 23
DIY Robocars via Twitter
RT @SmallpixelCar: My new car for high speed. Low body, everything ( @NVIDIAEmbedded Jetson Xavier NX, @emlid RTK GPS, IMC) under the deck…
Apr 23
DIY Robocars via Twitter
Apr 21
DIY Robocars via Twitter
RT @f1tenth: F1TENTH Race training setup @PennEngineers for our upcoming ICRA2022 @ieee_ras_icra competition. @OpenRoboticsOrg @IndyAChalle…
Apr 21
DIY Robocars via Twitter
RT @fatcatFABLAB: Proud to be hosting a restarted DIY Robocars NYC Meetup April 26. Come by if you want to talk about and race self-driving…
Apr 17