I have a drone 6 props, everything was running smoothly with the drone, suddenly i ran a mission 3 missions. i need help with someone to view the logs why the ekf went into a failsafe and what could i prevent in the future.
1st Mission= Drone running mission went sides way and was going in circles put it RTL successfully returned and landed.
2nd Mission= Did a Large Vehicle Calibration pretty heavy vehicle, ran the mission went smoothly and landed
3rd Mission= Drone lifted and was doing the mission till suddenly i got ekf failure and it went into land mode and landed into a tree.
I see no evidence of any configuration or tuning at all. A default set of parameters. And running 2yr old firmware.
I misspoke! All Arming Checks are disabled so it’s not all default.
Thrust loss on Motor 1, Motor 2 drops to Stabilize and down it goes.
With further review the indication of thrust loss could have been props chewing on the tree. GPS failed with sats dropping to zero triggering an EKF Failsafe to Land. Mode change to RTL failed because of no position. It dropped into the tree.
@amilcarlucas i bought the drone used from someone last week , I made into a little project running double telemetry, LTE AND STARLINK ON RPI, the drone was flying totally fine so the reason I disabled arming checks was because of my telemetry.
My question is I know why it crashed into the tree because ekf failed and went into land mode and landed straight to the tree, but I just want to know why did my gps get 0 satellites.
I’m gonna order new props for the drone because that was all the damaged that was done to the drone, I am going to upgrade into the latest firmware, please guys give me suggestions what to do after firmware upgrade.
May we know whose GPS brand is that? How is your gps module connected, to where? You are doing mission flight that require GPS position, but you disable gps health check. Gps takes a bit of time to acquire position. I am thinking probably that is one of the possible causes. Am I correct, from drone power up to mission 7 command happened within one minute?
@Jai.GAY Im using the Here3, and its connected to CAN2, it was going to waypoint 7 and i got 2D fixed and it went to EKF FAILSAFE and auto landed into a tree and crashed.
Only reason i turned off gps health check because i had it running manual forgot to change it back, and i ran 1 mission before it crashed and it was successful.
To be honest, current design of the arming check bitmask is stupid and encourages disabling all the checks (~1 click) instead of just one (~20 clicks).
IMHO it should have only bypasses (disables particular check) or have “allow bypassing” bit and bypass bits (0 - check enabled, 1 -check bypassed). The simplest alternative solution would be to default the mask to all “1s”.
Even with a mask of all 1’s the user would still need a single click to set it to 0
I believe is better to force the users to do a checklist style configuration process, where they are forced to configure the components one after the other in an sequence.
When they reach the end of the sequence they will have no need to disable arming checks, because arming check will be green.
It’s best if the pilot see’s this message and thinks “perhaps it’s not a good plan to disable the arming checks”
Warning: Arming Checks Disabled
The issue is that disabling all arming checks is 1 click and disabling all arming checks but one takes way more clicks.
Ex. I have a rangefinder, it sends NO_DATA when it doesn’t detect the ground (it’s no echo response is distinct from echo too close or too far so neither status fits), arming check doesn’t like rangefinders reporting no_data so I need to disable rangefinder arming check. To do that I need to go into the bitmask, disable “all” and click every other arming check, except rangefinder, so they still apply.
Setting the bitmask to all “1” would mean that to disable rangefinder only I would have to deselect two bits, “all” and “rangefinder”.
