ACPUK,
I am not sure what caused your crash but my suspicion is that it could possibly be desync between the motor and ESC. Your Q_ASSIST_ANGLE was set to 20 which caused many angle assist events to happen when you were in FBWB mode. Mine is set to 30.
In the images below, we zoom in closer to the fatal angle assist event on the right. The yellow C9 motor looks very low. The question is was this a desync or just the way the plane was tipped. When the
Q_ASSIST_SPEED got below 12m/s, why didn’t the quad motors kick in again?
I’ll continue to look further for the reason…
In the final descent image below, there is an Angle Assist, a Transition Started, and no Speed Assist. I don’t know how the code works here but the plane was going down and not getting assisted by all four quad motors. (as seen in image 3 above)
