I had a fairly serious ‘fly-away’ today with AC3.2-rc2 and a stock 3DR IRIS with tarot gimbal attached. Settings and configuration are the defaults for ‘IRIS+tarot gimbal’ and everything was calibrated from scratch after upgrading to AC3.2-rc2.
The flight was autonomous and everything was smooth and fine up to 3:19:59.00 PM. At that point the IRIS started aggressively flying away. Once it became clear the drone wasn’t going to recover I switched to stabilize and was able to land with only moderate damage.
Looking through the logs and checking GPS coverage it’s clear that the number of visible satellites (NSats) and GPS positioning accuracy (HDop) sharply deteriorated around the time of the fly-away. It took the GPS Glitch Detection algorithm just over 5s to spot the problem (detected at 3:20:04.40 PM), at which point the drone had already picked up quite a bit of speed.
Is this problem specific in any way to AC3.2? Is there anything that can be done to avoid this type of fly-away happening again?
I’ve read the GPS Failsafe wiki and it sounds like one way to mitigate the problem is to check for poor GPS coverage. Is there additionally any way to further improve the GPS Glitch Detection?
Thank you for any advise or tips on this!
[attachment=0]AC3.2-rc2, Flyaway due to Slow GPS Glitch Detection.png[/attachment]