I had almost an Identical accident, but only with far better outcomes. I only had to replace one motor and 3 CF props.
I searched for the cause, and like you, thought it had to be a controller issue; But I was mistaken. What had actually occured, is that motor 1's propnut had unscrewed slightly. All of my other quads have keyed propshafts, which prevent the prop from free-spinning if loose, but our 250's are smooth. As the FC tried to compensate for the abnormal condition, I felt as though I lost all controls, except throttle. And then, while in self-level mode, it did 3 lefthand rolls and missed our security guard by less than a meter, as it went full speed into the parking lot.
My motors (sunnysky) dont have cw\ccw shafts. They are all 4 the same, where as yours are cw\ccw, so you may have had a different cause.
I searched for the cause, and like you, thought it had to be a controller issue; But I was mistaken. What had actually occured, is that motor 1's propnut had unscrewed slightly. All of my other quads have keyed propshafts, which prevent the prop from free-spinning if loose, but our 250's are smooth. As the FC tried to compensate for the abnormal condition, I felt as though I lost all controls, except throttle. And then, while in self-level mode, it did 3 lefthand rolls and missed our security guard by less than a meter, as it went full speed into the parking lot.
My motors (sunnysky) dont have cw\ccw shafts. They are all 4 the same, where as yours are cw\ccw, so you may have had a different cause.
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