The luckiest fly away ever

Hi everyone,

First of all: Don't hate me. I know I should have been more careful and took an unnecessary risk that could have caused a lot of damage and was pretty dangerous. I'm well aware I need to work on my impulse control and take things one step at a time so I don't risk myself and others. I am not in any way saying that this was okay to do and I have learned my lesson.

Yesterday I had my 3rd flight with my first ever quad. It's a 680 HK plywood frame with 610 Turnigy multistar motos, Afro ESCs 30A and 12x45 CF props. I'm running an APM 2.5 (onboard compass) with Arducopter3.1.5, Ublox GPS and 3dr radio telemetry. Powered by a Zippy 5000Mah 4S battery.

The first flight, I had a problem with one motor mount that resulted in a low altitude crash. Broken arm, quick fix. Second flight was very successful. Tested Alt hold, Loiter and RTL and autoland. All under a lot of wind (it's always windy where I live). All modes worked great with ZERO tuning. What an incredible piece of software. I got confident, too confident.

On the 3rd flight I decided to have my girlfriend come out to check it out. I live in a block with 5 8-story buildings. I put the quad in the grass between my building and the next (about 25 meters between them, 27 yards). I took off, still very gusty, but the quad was fighting the wind like a champ. Very stable on Loiter. I took it around for a while and decided to show her (I know...) the RTL. I said "Look, I can flick this switch and have it come back and land all on it's own!" Well...

The quad gained altitude (so far so good, it's meant to go up 15m) then it started getting closer to my building as it climbed, I got scared. It misses the bulding from the top by just a little and I lose sight as it goes over the building towards the highway. At this point I'm flat out panicking. On the other side of the buiding there's a highway and on the other side suburbs. I'm panicking here, so I'm not sure at this point if I left it on RTL or changed it to loiter. I didn't have a chance to download the logs yet. I ran around the building and couldn't see it. A neighbor saw me with the transmitter strapped to my neck and said he heard something "clacking" in the roof of the building. I run up a hill that is slightly taller than the building to look at the roof, no sight of the quad, but I can't see the whole roof.

I go back to my apartment, after some googling I find the number for the manager of the complex. Call him no answer (it's around 7:30PM at this point). Call the super, no answer. Take my tablet with the 3dr radio, go the the tallest floor and see if I can conenct to anything, nothing. I look into the mailboxes (here the managers are usually also neighbors who volunteer), find the lastname of the manager, buzz on his door, he tells me only the super has access to the roof, but he only comes over once a week. I'm starting to think I lost about 1K of investment and countless hours (that's still better than having the quad land on the highway and cause an accident).

I go to my balcony that faces the highway side and once again try to connect with the 3dr telemetry and the tablet, no dice. That's about 20 min after take off (I guess, hard to keep track when you're panicking). While I'm in my balcony I hear a beep from far. I just grab my tx and throttle (no idea why I thought that would help) I look up AND THERE'S MY QUAD coming from over the building, HOVERING THERE ABOUT 400 FT UP! Then it wander towards the builing and out of sight again. I run towards the other side and see it hovering right over a factory in the distance. It's loitering, but being punished by the wind. I do by best to not shake to much and bring it over closer. I land on the grass, run to it and to my surprise the thing is INTACT. The cell checker (life saver: http://hobbyking.com/hobbyking/store/__18588__Hobbyking_2_8S_Cell_Checker_with_Low_Voltage_Alarm.html) that I had on the frame was buzzing like crazy alarming that one cell had reached 3.4v. Other than that, the quad was perfect.

I still have not wrapped my head around what happened. The quad was out of my sight for around 20 minutes. Nothing broken, not even scratched. My best guess it's that in a panic, I must have switched it back to loiter and it just hovered there over the roof for 20 minutes in a place I couldn't see from over the hill. Then the cell meter started buzzing (the thing was LOUD) I gave some throttle and the gust pushed it to sight for a moment before the quad tried to get back to where it was.

I still can't believed I recovered it in PERFECT state. And it doesn't seem possible that that setup would stay hovering for THAT long. Either way I'm thankful and HUMBLED. I'll never fly in auto or RTL anywhere NEAR people and property. And I'll always be ready to switch to stabilize when I do.

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Replies

  • Hi, funny story but really you have now learned that YOU and not the SW is the pilot in command.

    Please learn to fly it well manually, so well that you are confident to take over in manual any time. Also when it's nose in etc.

    Regards

  • OK intersting I had similar and I think I know why, for mine at least, it may or may not related to what you experienced. but I had similar fly away on RTL happening

    On my Iris, with APM:Planner.OSX

    There is an interesting issue with WP0 Ive found.

    http://ardupilot.com/forum/viewtopic.php?f=82&t=8290

    WP0 is meant to represent the home position. However if I previously flew this in a different field and had a mission planned WP0 gets  set. Then starting again even on a new day in a new field, WP0 can be retained from the old field.

    All the checks will be fine and you can fly,loiter etc. But on RTL it may head to the old field. I had this where my Iris headed out of our sports field and over a house. Luckily manual control helped get it back (albiet for a rough landing). It was quite windy like you mention, but it flew in a direct line somewhere like it had an intended destination.

    At least 2 time I have gone to another field, powered on/armed and my WP0 is still halfway across town (at another field). I have to manually drag the WP0 to a position on the field Im in.

    For a new user with an Iris (I bought it as a learning copter) this can be a disastrous, as RTL is expected to be a safety feature. And if you are going for simple fly without a ground station you cant know where RTL is set to without testing.

    Hopefully this helps...and Im keen o know if anyone else has experienced this or Im just doing something wrong.

    Cheers

    -P

    • Moderator

      RTL is based on the point you power up the craft (I think). If you have waypoints stored of course they will stay where you placed them. Waypoint 0 is the home position, that's not the RTL position.

      • Developer

        WP0 represents home. If you arm WP0 is updated in the vehicle to be its current location. If it doesn't have a quality lock home will be set at the point when that lock is achieved.

        Mission Planner and APM Planner 2.0 wot reflect that new home position unless you retrieve the mission again after arming and getting a quality GPS lock.

        • ok, so making sure I understand correctly

          So if all pre arm checks on, and get the green light (indicating GPS lock) RTL /WP0 should be correctly defined/updated to current armed position?

          If prearm checks ignored and a gps lock not made, WP0 and RTL could still be stored from a previous session?

          Thanks Bill/Gary

          Cheers

          -P

      • Cheers Gary,

        Yeah thats what I thought.

        If I have a mission stored from another field I can "get" it from the copter. It shows its in another field. I can delete all the waypoints except WP0 it wont let me.  If I add new points thats fine..but WP0 needs dragging across to the new field.

        Maybe Im just misunderstanding the WP0 usage, and my RTL issue was something else.

        Cheers

        -P

  • Moderator

    That will be an interesting logfile when you have downloaded it!

This reply was deleted.

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