I was flying my Steadidrone Qu4d running APM 2.6 (Arducopter 3.1) when I experienced a sudden loss of control and crash while in loiter mode.
I had been flying in auto mode with waypoints and switched back to loiter. Everything was performing flawlessly up to this point and the quad seemed to be on rails. As the quadrotor was hovering in loiter, I noticed it begin to pitch or roll rather violently before recovering. Concerned by this I began to nudge it back toward the takeoff point and reduce some altitude. As this was taking place another event occurred similar to this where it appeared to violently pitch or roll before once again recovering. I decided to continue the descent and try to put it on the ground quickly. While still in loiter about 10 feet above the ground another violent event occurred, causing the drone to fly violently into the ground. I had never had this problem previously and I was curious to find the root cause so that I prevent it from happening again in the future. Winds that day were about 15 mph with the occasional gust to 20.
I have attached the logs from the incident. Any idea what could cause this from the logs? Could it be a parameter that I need to adjust?
Thanks
David
Replies
I am experiencing exactly the same thing with my unit except I have not gotten to the point where I can safely fly in Loiter because as soon as I do, I get this violent pitch/roll... Copter is built using a SteadiDrone Frame
Could it be non-software related issue, such as motor overheating during a long time continuous fly?
When a motor is hot, some non-metal melting parts may cause internal tension increase. It looks like the quad is oscillating with no reason. At some moment the motor is stuck and the vehicle flips over and crashes. Has a couple of crashes like that with KDA 950Kv motors and a heavy quad.
A little more info- the initial rocking back and forth seemed to be started by the wind. After the oscillation started, it seems as though the APM may have over compensated the recovery? Thoughts?