at thorstenbehrens.de/HexMotorFailure_U.zip you find a log from a colleague of mine.
During an auto mission one motor stopped working. The reason must be a mechanical or some ESC related issue. Anyway, the log might be interesting since the hexa survived the motor failure with only some very small injuries.
Somehow the copter has not lost yaw control, i.e. no spinning, but just descended. In this respect I am wondering what caused CTUN.DAlt to decrease?
After some flight mode changes (in panic I guess) and a continuous descent the copter touched ground. Relatively hard. It lost parts of the payload resulting in a shift of the COG. I thought that such a hard “landing” should trigger the crash detection.
However, the motor, which failed came alive again, and due to fact that throttle was still high the copter took off again. During this period something must have happened to the EKF2 estimates, because a GPS glitch was detected. However, the number of sats and the HDOP remained constant. There is a single peak in pitch, but since HDOP did not change I think this is not the cause. Any idea?