Hi all, We were flying a Hexacopter with AUW of 30kgs, system started fly in the opposite direction from the marked mission (supposed to take-off, yaw and then proceed to mission) and crashed into a wall. Mainly noticed that the GPS measured speed (GPS.Spd) was off from the EKF speeds VE and VN combined (Euclidean), Also EKF failsafe was triggered mid-air, positions started to deviate wrt targets ,GPS Glitch message and high innovations in position were also observed (from flight log).
Any ideas on what could be the reason for the divergence in the GPS ground speed and other observation.
The old ArduCopter firmware that you are using is less strict about the GPS signal quality at takeoff, so it allowed you to takeoff with a not so good signal. Causing you to crash.
Update to ArduCopter 4.5.4 and it will only allow operation under good and safe GPS signal
Hi @amilcarlucas, Thanks for the reply. We will try to update to the latest version as pointed out. But does this imply that the signal from the GPS is faulty since we have taken 7 flights earlier on the same day and each one were successful, and number of satellites were good (16 nos).
Please, can you point out other possible reasons and ways to identify them. Thank you!!!
Also check your IMU Vibrations value. Faced similar gps glitch issue, used a proper vibration damping mount to hold the FC and it was resolved in my case.