When my drone was flying in the fixed-point mode and the barometer, GPS distance meter and altitude readings were all normal, the EFK altitude experienced severe fluctuations, eventually causing the drone to actively descend towards the ground. I used the EK3_RNG_USE_HGT setting with a 70% maximum range of 7 meters. The drone sent out fluctuations at around 4.9 meters. I suspect that the height fluctuations were caused when the drone was switching height sources. My main height source is GPS.https://drive.google.com/file/d/1frVP0A9EFONtXiWJ3wm3dbZn288JH-TV/view?usp=sharingI
My aircraft is capable of vertical takeoff and landing, but the problem with the unmanned aircraft occurred during QLoiter. The drone fell straight down. The motor exerted force almost simultaneously. By reviewing the logs, I was able to determine that the drone actively reduced the throttle. This is because the THO curve in the logs is opposite to the RC3 curve of my remote control.
I flew a total of twice. The first time was normal. But during the second flight, I inserted RTK in the middle. After the positioning indicated “RTK Fixed”, when we were about to conduct the second flight, the drone crashed.
I did a quick auto review here:
Thank you very much for taking the time to help me analyze the problem. I have carefully reviewed this report. The conclusion of this report is that the failure of the GPS and the distance meter occurred simultaneously at 16:13:54. However, I carefully reviewed my flight log and found that the exact time of the failure began around 16:13:52:5. At 16:13:54, the number of GPS satellites was still 26, and the distance meter did not show any obvious malfunction. Therefore, this report seems to have regarded the error messages reported after the drone crashed as the cause of the crash. Because the drone underwent a second flip after the crash, causing its back to land.
thanks, this was quite experimental log analysis, I’ve taught it a bit more and now have rev2 of the report:
Thank you very much for your help.