Discussions

Indoor Crash. AC 3.01 Help!

Posted by Shyam Balasubramanian on August 18, 2013 at 8:24am

Hi,

I had a horrible indoor crash today after I armed my motors.

I was in stabilize mode, the quad changed direction towards one side and crashed into the wall, broke 2 props, 2 motor shaft bent. I have to check the 20Amp ESC's if they got burnt in the process due to over current :( Bled my arm in order to save the other two props!!

I had my GEO Fence ON. After I see the log, it shows has triggered a fail-safe (RTL) as I breached the fence? I am unable to interpret why this has happened? Outside, it flew like a charm the last time I flew.

Why did it breach the fence. It was supposed to be in Stabilize. No waypoints, simple indoor flight in STAB mode.

Subsystems/ Error codes:

9: Fence, ECode 2: circular fence breached

Log attached, any comments will be helpful

Thanks!

2013-08-18 16-43 13.log

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Replies

Shyam Balasubramanian August 19, 2013 at 12:01am

I was in Stabilize mode which must not use GPS in practice. I was in flight mode 0 (Stabilize) when i started.
What i know is log will always note down gps readings irrespective of flight mode..only that a particular mode may not use it in code..
Does this mean i cannot fly in the most primary mode indoors? Then this is not right?
dr0n3droid August 18, 2013 at 2:57pm

Last summer I had a failsafe RTL @ 20M. Unfortunately, ceiling is <3m. I do get 12-14sats in my living room though.
Tom Mahood August 18, 2013 at 9:13am

I'm not an expert but from the log it looks like even though indoors your quad was still using GPS although with a really bad hdop. Its position was bouncing around. If you plot the lat/long coordinates it moved quite a bit. It simply thought it moved beyond the circular fence you had enabled, and unfortunately it was armed.

If this is the case it highlights a danger with the fence enabled and poor GPS coverage. Maybe there should be a condition of a minimum hdop or number of satellites before the circular fence failsafe kicks in? And at the very least if doing indoor testing disable the fence failsafe!