Hello, I had a mostly good test session of our aircraft yesterday ( see blog for more information ). But also experienced some extremely erratic flight behavior. This is not the first time, but this time I have both the .tlog and .bin for anyone who would be willing to give it a look-over.
.tlog - begins during VTOL Take off around 15.7 %
0003.bin - VTOL takeoff at at 87 min
The .tlog tells the story pretty well. Basically, while taking off in Q_stabilize, I notice the aircraft is oddly drifting UPWIND. As I ponder this anomaly and gain altitude the plane aggressively changes pitch and takes off on a new course as I attempt to maintain position overhead, meanwhile messages are rolling in:
EKF yaw reset -0.62
EKF yaw reset 2.11
EKF yaw reset -5.48
EKF yaw reset 50.23
EKF yaw reset -105.87
EKF yaw reset 106.13
Eventually it stabilized and I risked transitioning into FBWA then AUTO as I prefer to let the aircraft charge in flight whenever possible. The rest of the flight was uneventful with a very nice Hybrid RTL at the end.
Note: On a typical Q_stabilize takeoff, I only apply throttle and small amount of rudder to face the AC into the wind for transition. In this case, I was much more active on the controls once I noticed the AC was pitching and rolling un-commanded.
Also see here ( 0002.bin @ 37min ) for a very similar episode but in fixed wing mode immediately after switching from FBWA to AUTO. Almost crashed and multiple EKF yaw reset messages then as well.
Any Ideas? Keep in mind this aircraft and very similar versions have flown around 100 hrs. with tons of transitions. The vast majority of the flights are very uneventful despite various tuning issues (see blog)
Extremely curious what I may be doing incorrectly that is causing/contributing to this abnormal behavior.
Thanks for looking,