I’ve posted about this drone (1000mm-class hexcopter with Cube Orange Plus) and have managed to reduce vibrations somewhat and run an autotune which completed nicely.
I managed to run several missions without a problem. A sample log is attached. But when I tried for higher altitudes on a windier day to prepare for future missions, I got an EKF lane change again (other log attached). Digging in the logs shows this might be an altitude estimation problem. The Cube is mounted centrally on the frame and in relatively free air front to back.
Does something need to be done? I would very much prefer not to see these in normal operation.
https://www.dropbox.com/s/vt78m0khe6qqpva/logs%202023-04-17.zip?dl=1