Hi all!
I am working for a drone project and now I am gathering some informations about the pixhawk’s possible mode change influences.
We once had a mission abort scenario which was a bit scary:
2021-05-03 15:30:08,024 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:11,151 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:14,213 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:17,336 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:20,325 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:28,861 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:31,733 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:37,834 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:38,582 [MainThread][INFO ] FCU status: NavEKF2: lane switch 2
2021-05-03 15:30:38,598 [MainThread][INFO ] FCU status: EKF primary changed:2
2021-05-03 15:30:38,687 [MainThread][INFO ] FCU status: EKF variance
2021-05-03 15:30:40,945 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:43,944 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:45,899 [MainThread][INFO ] FCU status: EKF2 IMU0 has stopped aiding
2021-05-03 15:30:47,006 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:49,802 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:52,912 [MainThread][INFO ] CC status: GNSS 1 failure
2021-05-03 15:30:55,980 [MainThread][INFO ] CC status: GNSS 1 failure
As you can see, EKF2 IMU0 has stopped aiding occured due to a GNSS failure. (Two gps modules are mounted on the drone). We could see that after the failure, the drone landed with 10m/s. We do not expect that it was an RTL. Now I’d like to find the code passage where MODE changes to LAND due to a gps/imu failure, could you give me a hint there?
Thank you in advance, much appreciated!