Crash after completion of compass Learn

ArduCopter Copter 4.0
1

It crashed after completing compass learn, but I don’t know the cause

2022-05-23 오전 10:38:50 : EKF3 IMU1 tilt alignment complete
2022-05-23 오전 10:38:49 : EKF3 IMU0 tilt alignment complete
2022-05-23 오전 10:38:48 : AHRS: EKF3 active
2022-05-23 오전 10:38:48 : EKF3 IMU1 initialised
2022-05-23 오전 10:38:48 : EKF3 IMU0 initialised
2022-05-23 오전 10:38:47 : Barometer 2 calibration complete
2022-05-23 오전 10:38:47 : Barometer 1 calibration complete
2022-05-23 오전 10:38:46 : Initialising ArduPilot
2022-05-23 오전 10:38:40 : MotorInterlock HIGH
2022-05-23 오전 10:38:39 : EKF primary changed:1
2022-05-23 오전 10:38:39 : EKF3 lane switch 1
2022-05-23 오전 10:38:39 : EKF3 IMU1 yaw aligned using GPS
2022-05-23 오전 10:38:35 : CompassLearn: 93%
2022-05-23 오전 10:38:32 : CompassLearn: 49%
2022-05-23 오전 10:38:32 : Yaw Imbalance 38%
2022-05-23 오전 10:38:29 : CompassLearn: 44%
2022-05-23 오전 10:38:27 : EKF3 IMU1 yaw aligned using GPS
2022-05-23 오전 10:38:26 : Yaw Imbalance 38%
2022-05-23 오전 10:38:26 : CompassLearn: 40%
2022-05-23 오전 10:38:22 : CompassLearn: 36%
2022-05-23 오전 10:38:22 : CompassLearn: have earth field
2022-05-23 오전 10:38:22 : CompassLearn: Initialised
2022-05-23 오전 10:38:22 : EKF3 IMU0 yaw aligned using GPS
2022-05-23 오전 10:38:21 : Yaw Imbalance 38%
2022-05-23 오전 10:38:15 : Yaw Imbalance 36%
2022-05-23 오전 10:38:04 : Yaw Imbalance 39%
2022-05-23 오전 10:37:59 : EKF3 IMU1 MAG0 in-flight yaw alignment complete
2022-05-23 오전 10:37:59 : EKF3 IMU0 MAG0 in-flight yaw alignment complete
2022-05-23 오전 10:37:58 : Yaw Imbalance 30%

This is a message from the flight.

2

Need to see a .bin log file to tell anything useful, but “Yaw Imbalance” sounds like you’ve got at least one motor mount twisted.

1 Like
3

And update to ArduCopter 4.2.0