Hello all. this is my first post after months of using this platform to setup our copter.
we have been developing a quad copter for agricultural use with AUW 27KG. the copter was doing great on auto mode. loiter mode. lots of manual tunning was done and everything was going great until few days ago.
I was developing a way to resume a mission after the sprayer tank was emptied. basically the copter will go to RTL mode and return home. we take off the battery and replace it with full battery and also fill the sprayer tang. I simulated the situation while activating RTL while in mission and the copter landed perfectly. I removed the battery and connect it back again. I went to MP and pressed resume mission. it warned me that all the arm and take off commands will be overwritten. it asked me for the which WP i want to continue and the default was WP20(where i activated the last RTL). then the flight plan was received by copter and before even taking off the copter flipped over and all the props were damaged.
I have been checking out the logs and tlogs but didn’t find any reason to justify the crash.
the new mission that was written also had no issues as the take off command to 3 meters was there.
I have attached the TLOG and bin file. the bin file is for the time that I restarted the battery and immediately after that leads to crash however the TLOG is for the entire flight I had,
I’d appreciate if I could get some insight from you all. thanks in advance
30 inches props (RIP)
quad frame with sprayer tank