Flight mode change causes flyaway like behavior

ArduCopter Copter 3.6
1

Hi,

Found out that flight mode change can upset position controller badly if there is large velocity difference on target and current velocities.

Firmware version: ArduCopter 3.6.9 ChibiOS

What’s untypical on parameters:
Maximum flight speed on loiter is 12m/s where as maximum default speed on waypoint navigation is 2m/s.

What happened:
The drone was flown about 9m/s on LOITER flight mode when AUTO flight mode was activated. The drone flied 90 degrees off from correct direction, while slowing down to 2m/s.

Position_controller_upset
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image
image.png846×514 11.3 KB

LOGS:
Log file

2

Could either of you @rmackay9 or @tridge check this?

3

Still waiting for help. I really would like to know whats behind of this behavior.

I could try to find the cause, if someone could even show me direction where to look at on the position controller (or somewhere else).

4

Does anyone know how to proceed from here?
Is more information needed? Is this normal?

5

hi @VDLJu
could you please send log file ?

6

@hosein_gh The log is on bottom of the first post.