3DR Y6 RTL malfunction?

RTL has worked well for 10-15 flights. Tonight I performed compassmot, came back at 6%. Did it again, 7%. Everything seemed ok, but haven't tried Auto Tune yet.

So I ran a test flight in the back yard before going to the field. Took off, put in alt-h, drifted about 100 ft and switched to RTL. All seemed well, reached alt, came  straight overhead as usual but then started acting strange as it was descending.  then it began a toilet bowl descent, slowly. It was circling too close to the house so I didn't try to go back to stab mode.

It circled down and "gently" crashed and broke a prop but no other damage.

Did I inadvertently change something in MP maybe? Now I'm a bit nervous taking it back up. 

MP 1.3.5

3.1.5

RTL%20malfunction.log

The descent:

k3jCoNy.pngThen I read there's still a bug in the stable release of compassmot?

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  • http://ardupilot.com/forum/viewtopic.php?f=25&t=8496#p19588

    Did you do a compassmot procedure?
    As you increase throttle, current increases in the battery leads , wires, ESCs, etc and this generates electromagnetic disturbances that will impact your magnetometer.
    Also be aware that there is still a bug with Pixhawk and compassmot procedure in the current stable release.

    • I was looking it over and noticed one of the tail boom nuts were off that supports the Pixhawk, and on top of that the GPS/Mag mast. It does flex quite easily. Is it possible the movement/vibration could have confused the FC/GPS/Mag? It is possible I forgot to Loctite that nut back on when doing some re-wiring.

      3702500915?profile=original

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