For some reason the copter when it hit RTL decided to osscilate and crash. I think because the decent was set too fast. I read that RTL uses WP_NAV_SPEED which was set to 400.
What do you think caused the crash? Too fast a decent or an unbalanced copter? What recommendations do you have (other than for not being an idiot with your geofencing) :D
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if motors are allowed very low throttle, and a rapid descent, the air can blow so hard on the props, that it gets trouble staying in sync.
you could try to increase minimum throttle. - or it can be a bad tuning..
some instability during rapid descent is normal, as it's in it's own turbulence, but that was bad.