Hello! In line with my previous post, we’re continuing to experiment with THROW/DROP mode on a small 5" quadcopter running a custom version of Arducopter (where the velocity requirement to trigger a drop recovery has been increased to 9.9m/s). We drop this small quadrotor (while it is armed in drop mode) from a larger quadrotor, and the smaller copter will automatically fall, recover and follow a mission. We’ve had a lot of success so far!
A strange issue we’ve been seeing very occasionally is that the copter will climb aggressively after recovering, which is exactly what we DON’T want to happen as we want to avoid midair collisions. After reviewing the logs, the only thing we can see is that GPS altitude and barometric pressure don’t seem to align in time, and we’re wondering if the EKF filtering is getting messed up as a result…however we could be way off base.
If anyone has the time, would you guys be able to check out this log (of exactly this event) and maybe explain why this is happening? I’d love to tweak a few parameters to prevent future instances.
Thank you!