Log analysis for crash: EKF Error


We flew our Hexacopter on an auto mission and mid way into the mission we encountered a crash. In the log file, we see the error “EKF Primary changed to 1” and back to 0 before all the sensor values went erratic and the copter came down. Could someone please help me analyse it further to see what exactly is the reason for the crash. I have attached the log file EKF error log file

@tridge Could this be a EKF lane switch issue?


I see big z vibration. My understanding is that vibrations over 20 are not acceptable. Prior to the loss of control, Z vibes are at 50. I cant say this definitely caused your problem, but its not ideal.