This quad has worked fine, but would act flakey sometimes too. I thought I had narrowed it down to the cheap hobby king camera generating noise. I wrapped it in copper and things seemed to be working good.

I had been doing some small auto missions, maybe 1/4 mile around my property and it was working fine.

So I started to try to get some altitude in the auto mission too. It started acting weird and I lost sight of it over some trees, tried RTL. I actually got in my car and drove around to where I last saw it with RTL on my transmitter. Never saw it again.

Until yesterday. It had apparently gone about 1/2 mile north of where it should have been, then came back and landed in some bushes on my property and I just found in now that the leaves are coming down.

In the video, it is "toilet bowling for a bit, then it shoots off to the North at 45 degrees sideways, hovers for a bit then slowly comes back, seems to continue on it's auto mission, but then decides to land.

Here is the auto analysis of the log file.

What should I be looking for to fix this and increase reliability? Add redundancy? 

FC - HK32 (Pixhawk knockoff)

ESC - 4 in 1 - 25 amp x4

GPSs 2 

Power module, generic Ebay model.

Compasses 2, built in FC and one on a GPS.

Rx - Futaba S.bus

Thanks for any input.

Log File C:/Program Files (x86)/Mission Planner/logs/QUADROTOR/1/2015-07-24 17-52-05.log
Size (kb) 25887.9189453125
No of lines 341588
Duration 0:16:05
Vehicletype ArduCopter
Firmware Version V3.2.1
Firmware Hash 36b405fb
Hardware Type
Free Mem 0
Skipped Lines 0

Test: Autotune = UNKNOWN - No ATUN log data
Test: Balance/Twist = GOOD -
Test: Brownout = FAIL - Truncated Log? Ends while armed at altitude 7.89m
Test: Compass = FAIL - Large change in mag_field (42.84%)
Max mag field length (674.41) > recommended (550.00)

Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = FAIL - ERRs found: FS_BATT CRASH GPS_GLITCH
Test: GPS = FAIL - GPS glitch errors found (267)
Min satellites: 0, Max HDop: 99.99
Test: IMU Mismatch = GOOD - (Mismatch: 0.43, WARN: 0.75, FAIL: 1.50)
Test: Parameters = GOOD -
Test: PM = FAIL - 104 slow loop lines found, max 9.68% on line 194022
Test: Pitch/Roll = FAIL - Roll (170.73, line 228821) > maximum lean angle (45.00)
Test: Thrust = WARN - Avg climb rate 88.45 cm/s for throttle avg 739
Test: VCC = GOOD -

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