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APM 3.2 QUADCOPTER Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1

Posted by Gonzalo Garat on December 15, 2014 at 4:26am

Hi all,

I'm attaching my log from our last flight as our little quad went completly bonkers before it crashed.

Short after takeoff it went completly out of control, no response at all from RC or Telemetry and then crashed near a pond (thank god).

But the mistery was about to begin when we started reviewing the log and found out that the trigger was the failsafe error Err: EKF_CHECK-2 / Err: FAILSAFE_ EKF-1.

In understand these two were recently added to APM, but this ain't the first time I see this sort of thing happening.

I'm attaching my log in hopes for some guidance.

Thank you all!

2014-12-14 11-10-14.log

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Replies

- - Andy Piper > Ted Morgan May 6, 2015 at 1:58am
    
    This looks fairly simple -
    
    Bad vibrations => ErrYaw increasing => EKF error triggered.
    
    Try graphing AccY & ErrYaw. AccY should not get above 3 tops, ErrYaw should stay below 0.2 - yours are getting to -5 and 1.0 respectively.
    
    Not sure about the OP. No ErrYaw data at all which is weird. He seems to have a fast yaw change which the desired yaw cannot track (look at Yaw and DesYaw) and things unravel from there. I wondered whether this is an example of maxing out the IMU, in which case 3.3 should be better.
Michael Keppeler May 5, 2015 at 6:30am

---> "Permalink Reply by Ted Morgan 17 hours ago

I apologize, I should have clarified. I am running arducopter 3.2.1 on a Pixhawk with a F450 frame. I have EKF turned off and yet seeing an EKF failsafe error."

OK, then at least you are having trouble with a function that was designed for your board. I am using an APM and still had a lot of problems. And to my knowledge these "features" are for Pixhawk only.
Ivan R May 4, 2015 at 12:13pm

wow...this is disturbing to read....serious bug for APM users if its not even a feature it can support yet is triggering a failure
- Ted Morgan > Ivan R May 4, 2015 at 12:36pm
  
  I apologize, I should have clarified. I am running arducopter 3.2.1 on a Pixhawk with a F450 frame. I have EKF turned off and yet seeing an EKF failsafe error.
  - Ivan R > Ted Morgan May 5, 2015 at 6:18am
    
    thats much better to hear...am breathing again
WR April 27, 2015 at 5:16am

Did anyone get an explanation of this? I keep getting errors like these and others and have had a run away quad 4 times now.. I don't trust it anymore and I can't seem to find or fix anything..
- Mark Slater > WR April 27, 2015 at 10:58am
  
  I appear to be having the same problem - see also :
  
  http://ardupilot.com/forum/viewtopic.php?f=100&t=7872
  - Ted Morgan > Mark Slater May 4, 2015 at 8:43am
    
    Just had same issue and it forced the quad into Land mode in a bad spot. I don't even have EKF enabled, why would the EKF failsafe kick in??
Alex Maltais March 10, 2015 at 9:55pm

Hi guys,

I have the same error.

I look at my logs and found the error was subsys:16 & ECode 2 & 0

By this list: http://copter.ardupilot.com/wiki/common-diagnosing-problems-using-l..., it's cause by EKF/InertialNav Check, Bad Variance.

So visit to fix this: http://copter.ardupilot.com/wiki/configuration/ekf-inav-failsafe/
Alex
- Alex Maltais > Alex Maltais June 9, 2015 at 8:54am
  
  No more alarm with adding a GPS! ;)