We're testing an autonomous copter, that is controlled by a Raspberry PI. The mission is, basically, to take off, fly to the destination point, fly back, and land.
We had a lot of successful attempts, but there was a failed attempt which finished with a crash.
The copter was flying back, but then (as I saw in the logs), error "Subsystem: 16, Errorcode: 2" happened. The copter started to fly in wrong direction. Than there was "Subsystem: 17, Errorcode: 1" error. Then the copter said "EKF variance" and "EKF primary changed:0\r\n" to the Raspberry, and went to LAND mode.
After that it crashed somewhere, so we could find it later hardly.
Here is the link to the log file: https://drive.google.com/file/d/0Bw9Vkl56vQBLcXpLalJOaTBPZ1M5VXI0Rkh2R3pfdV9kZzYw/view?usp=sharing
Can anybody help with this?