We were flying our quadcopter. We were performing a small automatic mission and towards the end of the flight, drone gave an error “EKF3 lane switch 1” and started drifting off. We luckily jumped to Altitude hold mode quickly and recovered.
Because vibration compensation was triggered. Do you have a log of a simple hover flight? It’s difficult to see what’s going on with all the stop/starts for the Waypoints. If you make another flight to collect that log set these:
Need to review the Notch filter as the FTN data in this log isn’t helpful.
It could have produced the output oscillation seen in the previous log. There is some noise in the last log also. Don’t disable the IMU. The There was also a GPS glitch which can contribute to a lane change and activation of Vibration Failsafe. It’s not only triggered by vibration but velocity and position Innovations being too high, so a combination of things. Vibration Failsafe