I recently was flying the IRIS+ in an auto mission when something strange happened. As IRIS was gaining altitude and flying toward it's first point in auto mode it suddenly yawed about 90° followed by a pitch exeeding the maximum allowed pitch. As soon as I noticed this I put it in RTL mode but to me it did not seem to work so I switched to AltHold and brought it back home manually and was able to land safely.
By looking through the data flash logs I notce that the Yaw does not follow the DesYaw and the Pitch does not follow the DesPitch. The GPS Nsats and HDop was all looking good at the time of this incident. Also IMU consistancy looks good. I am using firmware: V3.2.1
Is this a hardware failure or does someone know what could have caused this?
I do have a payload on the IRIS+ so it is a little bit nose heavy, maybe a little bit more than having a Gopro attached to the front, could this be the cause of this incident?
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