Last week I was out flying my quadcopter for a group of co workers, the flights were going pretty smoothly for about two hours or so (flying around our front office building with a joystick setup)
But for whatever reason,near the end of my last flight, the quad developed an EKF error and was switching back and forth between EKF0 and EKF1? It also wouldn’t hold altitude any longer even though it was in Loiter mode.
I am using a LightWare SF11/c for altitude hold, I assumed that it would fall back to the baro to hold alt. if it experienced an error, but didn’t seem to be the case in this situation. I also have a PX4 flow sensor on the bird but I don’t believe it was enabled at the time, I was using GPS for position hold.
I am unsure if this was a “sticky i2c bus” that I have heard about or if it was some other issue that caused it to act somewhat erratically.
Luckily there were no crashes or anything and I was able to land, but I want to know what caused it and how to prevent it again in the future.
I’m going to include a dropbox link to the log that I am pretty certain was the log from that flight as it is the only one that had an EKF error in it.