A 3DR developer recently tuned my Pixhawk, it flies great, but when he did he also setup my battery failsafe. Shortly afterwards I was hovering approximately 5 meters away and about 6 feet when the Pixhawk started beeping continuously and started to climb. Stick inputs had no effect until I switched from Stabilize to Loiter then I was able to gain control for a couple of seconds but then it started beeping again and started to climb so I switched it to AltHold lowered the throttle and let it drop giving it throttle to arrest the decent just before hitting the ground.
The battery was still about 15.2 volts but I thought it might have been related to the battery failsafe since it was set to RTL maybe it was trying to RTL So I disabled the RTL in battery failsafe and it flew fine with no incidence. I flew it today and it did the same thing, this time when it started beeping I immediately dropped the throttle and got it on the ground but when it touched down the motor increased and it would not immediately disarm.
Here's the video of the second crash landing, you can here the beeping start about 25 seconds into the video:
https://www.youtube.com/watch?v=ccJaJa3IyYY&feature=youtu.be
The battery was at 15.45 volts and the battery failsafe is disabled. It also had a flashing yellow LED. How can I trouble shoot this to determine the cause of this? How do you download the logs? I'd share what firmware I'm using but I don't even know how to do that?
Any help would e greatly appreciated.
Replies
Ok, the title is a little mis-leading, its not a flyaway. But that might be flyaway prevention that landed it.
I'll stick my neck out and suggest you have EKF turned on and that was an EKF failsafe.
Sorry for the misleading title. The first time this happened it started climbing on its own and I had no control but after switching flight modes I was able to regain control and land. Although in both cases once the MR touched down the motors sped up causing it to tip over and it took a bit for it to disarm.
In the video I posted with this thread I planted it as soon as I heard the buzzer. I suspect your right, this is probably a setting somewhere. I'll post my logs after I've had a chance to follow Chris's advice.
Please post your logs. If you were connected via a GCS, they're automatically saved on whatever device you were using (phone/PC/Mac). If not, they're stored on the SD card and you can pull them off with your USB cable using Mission Planner or APMPlanner.
All this is in the manual, BTW.
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