Hi all,
I experienced a brief and undramatic flyaway with my Iris+ yesterday which has me a bit puzzled despite going through the logs (relevant section and mission attached.) Flyaway might be a poor description, as it was flying under control in auto mode towards a waypoint, but the strange thing is that the waypoint doesn't correspond to the mission programmed. I'm sure the root cause is something I've done wrong, but would very much appreciate any advice. The sequence was as follows:
- Power up the Iris on the ground at 52.02261, -1.146767.
- Normal pre-flight checks. Mission built in DroidPlanner with first waypoint at 52.02236, -1.146569.
- Sent mission to drone, DroidPlanner reported "waypoints sent"
- Armed the drone at around 16:03:40. GPS LED was flashing green, armed ok.
- Took off in AltHold mode, switched into Loiter almost immediately at 16:03:49.
- Switched into Auto mode at around 11m up at 16:03:56.831 (perhaps too quick to get into Auto mode?)
- Expected the drone to head SE towards the first waypoint and climb to 30m. Instead it headed immediately NW and began climbing, just clipping the top of a tree and continuing.
- From the log it looks like waypoint 1 (in a CMD mission) was executed on switching to auto, but that the waypoint is at 52.02424, -1.154671. This is believable given the direction the drone was headed, and corresponds to a nearby lake where I had flown the drone last (likely the first waypoint in that mission.) However, the mission size is reported as 19 waypoints, corresponding to my mission file (18+home?)
- As it was clear the drone was following an unexpected waypoint, I switched back to Loiter mode at 16:04:07 and took manual control. The drone flew well and I flew around manually for a bit.
- Later in the mission (not included in this log) I hovered, retransmitted the same mission from DP, and tried auto mode again. Exactly the same result, so returned to Loiter and eventually landed.
- Later on I loaded the mission from the drone using both Droid Planner and Misison Planner (mission file attached). Both show the mission I had expected, with 18 waypoints. There is no sign of the phantom waypoint that the drone was heading for.
I assumed at first that I had somehow not managed to send the mission file successfully despite DroidPlanner reporting that it had sent, and in fact I didn't read it back immediately from the drone as I normally do. However, when i did read it back later on (no further transmission of waypoints between misbehaviour and reading it back), the mission looks fine.
I'm a bit stumped, would appreciate any pointers - the forum is quite impressive at debugging! I've been using the ArduPilot wiki to help me interpret the log files, but it is not entirely up-to-date (I'm running 3.2 Iris), lacking descriptions of the DATA_NOT_LANDED event, for instance.
Thanks,
Evan.
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