Well, this compassmot run might be not 100% representative of the magnetic environment of your machine, but below 10% of interference indicates that your compass is almost not affected by your motors.
For the landings, I would consider assigning the Land mode to something on your RC, this should likely be a bit nicer for the actual landings than Loiter, especially if GPS tends to be a bit off.
For the landing gear, on different machines I used different ideas, from some foam cushioning commercially sold as ~2cm x 1cm glue-on pads, to cylindrical foam add-ons for larger landing rails, cut in small cylinders and glued on, to spherical landing balls printed in TPU. The latter seem to work well with FPV almost-crash-landings at speed on various surfaces; the spherical end shape tends to avoid binding to the surface.
For the lift-offs… at this moment I feel like I ran out of options. Maybe just adapting lifting off in Loiter, hanging at ~2m until yaw gets converged, only then continuing to fly, as a part of the standard protocol?
I did multiple take offs and landing today in the same general area of the near crash at the beginning of the thread. I’ve done a hundred or more at the same place. GPS is always not great until it gets up and it takes forever to get armed in Loiter to get 1.2 HDOP. I experienced quite a few take offs with a left Yaw but no loss of control. I started practicing with a LAND icon built in the RC screen and then lowered the land speed to the slowest minimum .3 allowed in MP. I practiced LAND while in Loiter and ALThold. All were fine but still to fast for me with a 5.5LB drone. Once I tried to do a LAND and it went out of control about 4’ off the ground and it was luck I recovered as it was moving at a good speed away from me. Very lucky day to save it. Once recoved it was fine. This was in Loiter. I then tried more LANDs and no errors after that one using ALTmode. I am wondering if being surround by trees is affecting the lower altitude. Here is what I think is the correct bin if anyone could help me understand what happened and what I need to be understanding in the file.
I am witnessing a lot more yaw on takeoff than before. Nothing has changed on the drone. I upgraded Aurupilot yesterday and it broke the supersimple mode.
Strangely, I was not able to find the events that you see on the previous screenshot and any of the last 3 .BIN so that’s one issue but secondarily. I did 15 takeoff and landings today with quite a bit of low level hovering in the areas where I’ve been having this strange EKF while only using ALTHOLD and I did not have any loss of control. What I think I’ve noticed the other day is when I say loss of control when a drone starts moving on its own horizontally to me that’s typically a GPS correction where it starts moving to try to correct its position so I’m going to stop takeoff and landing at least in my location. I did create a remote command to set pilot speed down to .5 so that I can have a very fine resolution slow descent on final landing and I find this much nicer approach to landing.
Vibrations would have been a major issue, fix that physical problem before flying more.
Use RC Option 31 for your kill switch channel, dont use a script or anything else. This function is baked into the firmware.
You may be able to set your transmitter to use a combination of switches so it cant accidentally be activated, but keep in mind you’ll want to access the kill switch function quickly during testing and tuning.
I always set Channel 13 to option 31 - it’s an easy combination to remember.
