We have been using Pixhawk in our fixed wings since a long time and have been quite successful with it so far. Today something strange happened:
We were tuning a new platform meant for aerial mapping. It was a bit windy day but manual take off went well and after trimming a the platform we switched to FBWA for finer tuning when suddenly the plane lost all the control and came down like a rock. It felt like it had no power and when it got inverted it could be recovered at all. We tried switching to manual mode but I dont think this was registered at all.
Following are the specs of the platforms:
3m span Glider
Castle Creations ESC
16000 mah 6S Tattu battery
Mauch Power Module
I am attaching the drive link below of the bin file and would be great if anyone could help us understand what went wrong.
the log ends midair, most likely Pixhawk lost power.
-use the 3-way power redundancy that pixhawk offers...
Thankyou for your comment. The system was powered via the Mauch Power Module + Extra 5V supply from the ESCs (internal BEC).
Do you suggest doing something more than this?
Was the extra 5v (on servo rail) actually within the range of what Pixhawk could use ? (or was it higher?) - you need to measure to be sure.
Also - you would need to verify that the power module actually supplied power, or else you could have been flying on servo rail power (possible to overload /or make overshoot - or by fed back by digital servos.)
in any case, check power.
who sais it RTL'ed ? (I see "crash")
We checked by powering with both the power module and servo rail and pixhawk was getting powered from it independently.
I do think a digital servo may have been the problem taking too much current at some point. I did have two Hitech Digital servos in Ailerons. However the voltage of the pixhawk has never gone below 4.8V as per the log.
I do not understand why did it goto circle. We only flew it manual and FBWA.
looking at the log, the voltage of you main battery went from 24.7V down to 17.5V at one point. For a 6S battery that means you got to 2.9 volts per cell. That is a dead battery. Given you were only drawing a few amps and flew for only 6 minutes that means the battery was very sick. Quite possibly a cell in the battery has died.
Your servo rail voltage was also very noisy. It got down to 3.9V at one point. The main 5V bus voltage is very noisy too, getting to 4.6V.
The POWER_STATUS_CHANGED flag (32) in POWR.Flags also got set. That happens when one of your power sources drops below the minimum valid voltage. The log shows POWR.Flags fluctuating between 33 and 35. That means the servo power is sometimes dropping below 3.7V.
So really you need to completely review the power setup. You had multiple problems with your power in the whole flight. It is highly likely that it lost power and reset the Pixhawk.
You'd need to check your previous logs to see if this was a problem just on this flight. It is possible for a servo to pull more power than usual, but if it pulled enough to drain a 16Ah 6S in 6 minutes then it would have melted.
Using the built-in BEC in an ESC is often OK, but it is worth checking logs to make sure it is handling the load. In this case the POWR.VServo log shows it wasn't.
Be sure that the voltage sensor is properly calibratied and working, its unusual to see a 6S be pulled below 6v, - let's say you need only 5v for voltage regulator to provide pixhawk with voltage above brown-out.
cells providing 5v means a cell voltage of only 0.83v - it's next to impossible to push them that low, in a short time, simply because the ESC/motor won't present an high enough load at such low voltage to further pull it down.
I do agree that the power supply(/ies) was to blame. But having analyzed plenty of plane logs where people flew the battery empty, it's much more typical to see useless/no thrust for several minutes before the voltage is anywhere low enough to make servos /flight controller stop working.