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ArduCopter v3.0.1-rc1 sudden crash out of loiter

Posted by Andy on July 11, 2013 at 2:03pm

Hy

 

Today I had a crash with the ArduCopter v3.0.1-rc1 firmware. Never experienced that before so I was really surprised that this can happen.

 

I first flew manually and set the copter to loiter. Then manually again and finally to loiter. Suddenly all the motors almost stopped spinning and the copter came down from 10m above ground and crashed to the ground.

 

In the log file everyone can see that the throttle out suddenly went down to 130 without any reason...

 

Can someone help me, is this a bug from the firmware?

 

EDIT: Probably I found the problem, there was a huge spike from the BarAlt (jumped from 9.09m to 5275m) so there is the problem!

Andy

2013-07-11 22-51 13.log

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Replies

  • Developer
    Randy July 12, 2013 at 12:18am

    Andy,

         Nice work finding the problem.  I don't think I've ever seen a baro spike that large before.  You can see the impact upon the inertial navigation altitude estimate (in green below).  So although the baro spike is momentary, it has a lasting effect on the inertial nav estimate.

    3692770433?profile=original     the only two things that I know of that can cause baro errors are wind across the sensor and light hitting it at just the right angle.  I've never seen either of those cause errors anything like this size though.

  • Andre K. July 11, 2013 at 2:53pm
    Even with that big difference in desired altitude, it should descend, not stop motors and fall. Report as a Bug, so Developers can verify how little throttle is minimum.
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