Just did some flight testing in windy weather. After some THR_ACCEL tuning, the copter is quite stable, even under these conditions. Finally tried a loiter in 75m AGL. Wind speed seems to be arround 40 km/h today in this altitude, but the copter hovers very stable with quite some pitch down into the wind.
Suddenly, I see the copter falling, rotating around all axes. I switch to stabilize, fortunately the was quite some air below the copter and I was able to recover. Thereafter, the copter was flying like nothing happened...
Some setup details
- Arducopter 3.0.1
- Quad, 6s, props 14x8", about 2,5 kg
- APM 2.5 powered via separate UBEC (5,0V) on the input side
- PID tuning completed - very decent flight caracteristics, no tendencies into oscillation even in today's windy conditions
- compassmot done with current sensor (with great succes - copter loitering very well without any toilet bowling).
I have absolutely no idea what happened. The Tlog reveals, there is no reboot or GPS glitch. The copter is just suddenly starting to roll, pitch and yaw without any input telling him to do so. Any help appreciated...