There are now two folders available.
These two crashed has same situation. GPS alt is set as primary alt sensor. GPS altitude is showing that plane is flying stable and correct altitude and is not drifting at all. This is absurd ! Baro shows that plane is little by little going down.
I will transfer parameter files on Monday
- Kittilä crash - 2020.
- Virtasalmi crash - 2019
- .bin and .tlog files are there
- Flight altitude is based on reference altitude and that’s why flight altitude looks quite low.
You can roughly add 20 meters to the flight altitude to get real flight altitude.
Waypoint altitudes are correct. Waypoints are about 15-20 meters above trees - following smoothly terrain.
One idea: could it be so that if for some reason autopilot decides that GPS is not reliable or available, then barometer is selected. And then game is lost. And why GPS altitude is showing totally wrong altitude in this case. Plane is going down and GPS is saying:“No, it’s not going down”. Or is there something what I don’t understand.
EK2_ALT_SOURCE: Primary altitude sensor source
Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use “1” for terrain following. NOTE: the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.