Crash due to EKF3 IMU1 stopped aiding?

[carporu (C)]

Hi all!
I had an emergency land due to the error:
“EKF3 IMU0 Stopped Aiding” and then Throttle disarming and arming on its own:

I managed to land it but I don’t want it to happen when I am further away.
I have the .bin log:
https://fromsmash.com/Arduplanelog

The home and altitude got reset to that point also instead of the original (take off one) which is also strange…

Before the issue:

During the issue, the Mode switches to FBWA from Auto:

After the issue:

and I change to FBWA manually and then I get the throttle disarmed/armed message:

I can upload the DVR if needed.

I have been reading and it seems that it is an issue with the compass (but I have it disabled, connected but disabled) or with the accelerometer (but it was flying well until then)
I would like to know what could be the reason and some insights on what to look for in the logs?

Thank you in advance

[Eosbandi (Andras Schaffer)]

Your RC control looks fishy, plane disarmed because CH5 changed value…(and Ch6 and Ch4 as well at the same time, so it was not pilot initiated…)

[carporu (C)]

Hi! @Eosbandi
thanks for the reply!
I am using CRSF protocol for control is there something else I can check on the Arduplane logs or I should contact TBS (vendor) about this?
Also, how did you get that plotted like that? Can i get the same for other channels?

[Eosbandi (Andras Schaffer)]

First of all change to 4.1.2 released code asap, then if it still does not work, try your luck with TBS.

[carporu (C)]

okay, understood! I can do it without losing the settings?
thank you @Eosbandi
I edit my reply, could you let me know how you plot the logs like you did?
Thanks

[Eosbandi (Andras Schaffer)]

1. yes
2. APM planner, log analyzer.

[carporu (C)]

Awesome!
thank you
just noticed there is a new firmware for CRSF too, so I’ll update that too

[Mfoo (Mike)]

Make sure you use a serial/UART with DMA enabled on RX and TX!

[carporu (C)]

Hi @Mfoo
thank you for your reply!
how can I check that I am using that?

[Mfoo (Mike)]

Hi.
Actually I only know where to look in the code (hw.def after target has been configured).
What board are you using?

[carporu (C)]

I’m using Matek F765-Wing

[Mfoo (Mike)]

The use SERIAL2 which is UART1.

[carporu (C)]

okay, I’ll check, thank you

[carporu (C)]

@Mfoo which option is it?

[Mfoo (Mike)]

set SERIAL2_OPTIONS to 23
Then make sure no other SERIAL has any rc-input defined.

You can also set RC_OPTIONS to 288 to get telemetry passthrough on your remote for Yaapu script for example.

[carporu (C)]

Thank you @Mfoo
The Serial options show this, what options from here?

the other serial options seem to be 0

Also, I am using Yaapu with CRSF telemetry at the moment, I’d like to keep using it
What is best RC_OPTIONS or Serial2_options?

My RC_OPTIONS at the moment is 256

[Mfoo (Mike)]

SERIALn_OPTIONS dont take affect iirc. Same as SERIAL_BAUD. That is fixed on CRSF to 400k.

Me personally uses RC_OPTIONS 800, which is passthrough and suppress CRSF messages for RFMD and rate changes.

[carporu (C)]

thanks @Mfoo
if I choose:
“Use passthrough for CRSF telemetry” and “Supress CRSF mode/rate message for ELRS systems”
it goes to 768 not 800 as in yours…

Is this correct?

[Mfoo (Mike)]

Yes, thats correct.
288 would consider the default, 32, which is “Arming check throttle for 0 input”.

But if you dont like that 256, or 768, is fine.

[carporu (C)]

Okay, thank you @Mfoo