ESC initializing twice and now lost GPS momentarily (failsafe)

ArduCopter Copter 4.2
1

Since setting up DSHOT600, Bluejay on ESCs and the bdshot firmware, my quad always seems to go through initialization twice- I get the ESC melody, high-low beep, ESC melody again, then a low-high beep. I am not seeing any errors on the OSD. I wait for satellites, go to arm, and get a long tone, then it arms and flies.

I just recently completed the magfit process and after a couple of short flights took it a bit higher in POSHOLD, about 15m. After just a minute or two in POSHOLD I heard the quad beep a few times (could not hear the combination) and then lost throttle control until it came down. I was not flying in FPV but reviewing the video it lost all satellite data (dropped from 13 to 0 sats, lat/long went to all zeroes) and went into failsafe/land. It regained all sats and position when it was just a few feet from the ground.

It’s feeling like the more I do to tune this the worse it flies (which I know can be a part of the process, but it seems excessive) and also now with this failsafe seems like something just isn’t playing nice.

Here is the log file:
https://drive.google.com/file/d/1jbiZjBOzr6B5hWAfYEj5DdtZ-bzxhVef/view?usp=sharing

And here is the video:

I’m just really at a loss here. I really appreciate any help!

2

The GPS/compass module could have intermittently lost power because both GPS and the Mag stopped functioning.

3

Well that isnt good. How were you able to tell the mag stopped functioning?

4

Mag field strength drops at the same time the GPS Status goes to 0.

Module
Module1662Ă—523 78.1 KB

5

Thanks Dave, I hadn’t even looked at mag strength yet since it didn’t look any different on OSD. I’ll have to figure out why that dropped. I just checked the connector and it seems solid. Very odd.

6

Maybe touch up the solder joints on the board?

7

I will give that a try. I had checked them when I was first getting the mag errors and they seemed fine but at this point I need to check everything. I will also review past logs to see if there was ever the same sort of drop.

I am still concerned about the ESC initializing twice, I feel like it would be causing other issues if it were a problem but since it arms and flies I am a bit confused. With that and the long beep when arming it feels like there is something else there but strange I wouldn’t see any messages for it.

8

Doesn’t Bluejay have different sounds (than BLHeli_32) anyway? I don’t know this 1st hand but I saw a post similar to yours and that was suggested.

9

It does for the initialization melody, but otherwise the sequence and error codes are the same. Mine plays init melody, then error, then init again, then success code. The long beep when arming is coming from the actual beeper, and is the same beep when it has an arming check error but it isn’t reporting anything.

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