Drone flip in ALT Hold

ArduCopter Copter 4.4
1

Hi all,
We have been flying with a companion computer in guided no GPS, and when we switched to the ALT HOLD drone, we decided to flip 360 degrees.
FC: Kakute H7
Arducopter: 4.4.4
Attaching logs (link drive), maybe could someone help ?

2

That looks really wired, according to the log the drone started oscillating out of nowhere.

I would recommend updating to the current version of Ardupilot. If you can then reproduce the issue in a safe environment with imu logging enabled that could help identify the issue though any flight with more logging could help.

2 Likes
3

Your compass is disabled, why?

4

We use only IMU+BARO and our visual feedback from the camera.

5

You mean this param? Complete Parameter List — Copter documentation

6

So its yaw estimation comes from the IMU? Wouldn’t be surprised if there’s the issue.

7

Yes, primary only should be enough to check for high vibrations and possible disturbances.

Do you have visual position estimation? Why not feed that to the autopilot?

8

we use it only duirng GUIDED NO GPS mode, so during normal flight this is not working.

9

We have not seen such issue before though. We have flown without compass for long and we haven’t had a flip during alt hold. Thus I am curious

10

Actually, on closer look, there seems to be an issue with ESC0.

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