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ArduCopter V3.0.1 - RTL came to start point and then crash after Yaw

Posted by Yuriy Cherniavsky on July 28, 2013 at 4:14pm

Hi, DIY Drones community.

Yesterday I tested new ArduCopter firmware V3.0.1 and got crash of my jD-Simplex Hexa KIT :( when used RTL.

After some flew around I turned on RTL mode and everything seemed to be ok. Copter came to stat point and hovered on it. But then I turned around in RTL mode with Yaw and fatal dancing started. This is the video from the copter - http://youtu.be/ufKxiK2ipn4.

At the end I switched to Stabilize mode, but it was to late.

 

I have tried to analyze logs from APM, but unfortunately can't understand the reason of this crash.

I see some strange vibration on PitchIn, but how can I understand the reason of it?

3691043945?profile=original

All logs from APM are attached.

Any help and/or thoughts would be greatly appreciated.

2013-07-27 22-23 11.kmz

2013-07-27 22-23 11.log

2013-07-27 22-23 11.log.gpx

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Replies

  • Tom Mahood July 30, 2013 at 9:05pm

    This precise thing happened to me several times. My new H-quad, running 3.0.1 was pointed away from me when I invoked RTL for testing. It yawed sharply around then started a deep combined pitch/roll oscillation. The oscillations would not damp. It started fluttering down like a leaf. Shortly before reaching the ground I was able to switch to stabilize, so it leveled out and hit flat with no damage. A third time I invoked RTL and the quad was pointed at me, so no yaw and no roll/pitch oscillations. 

    My quad is about 1.9 kg with slow 14" props, so I suspect it's a tuning issue. But your video looks very much like mine. And your graph looks like mine also. My departure from normal began just after RTL started.

    I'm still looking for an answer and working on detailed tuning. Loiter and AltHold seem solid, as does Stabilize, pretty much. But if I do abrupt control movements things get shaky. My RTL used to be the one mode I could count on in earlier releases, so this is a rude surprise.

  • RickP July 29, 2013 at 11:54pm

    I've not seen 0.0 for RATE_RLL_I and RATE_PIT_I - why that value?

  • Ragnvald Larsen July 29, 2013 at 9:51pm
    I am having a similar issue. i was in auto mode and after the last waypoint I programmed RTL - then the spiralling started. Webt to stabilize and saved the rig. Will try to reset the magnetometer, then set declination and calibrate the magn auto during manual flight. But until furter notice I will be careful when using RTL.
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