**Setup : ** Pixhawk 2.4.8(/Chinese clone) with Copter 4.0.5, Deadcat Quadcopter with 10 inch props on EMax 810Kv MT2216 motors
I tried seeking advice and suggestions on other forums but got no help. I am going to copy paste some parts from my Reddit post, so pardon me for that.
I have been experiencing some crashes that happen suddenly out of the blue. My Quadcopter suddenly starts swerving to one direction, and remote inputs have very limited effect, though they seem to be able to change the direction very slightly. It generally ends with my quad crashing into the ground, and changing flight modes has no effects. Using a FlySky i6 transmitter with modded firmware, but now moving onto Radiomaster TX12.
I don’t have logs corresponding to the old crashes, so I am just going to describe the recent crash I am trying to get to the bottom of.
Since I hadn’t had any crashes in some days, I was flying high. I tried some fast turns and circles in Alt Hold, and then changed to circle flight mode. I exited Circle in “Land” mode, lost some altitude while moving ahead and then proceeded to move straight with AltHold. Suddenly, the quad started moving away from me, and I thought it must be the wind. But then it didn’t stop moving when I tried with the transmitter, and tilted to one side. It went really fast, and before I knew it, it was racing away. I tried to switch to RTL, but that didn’t work. I tried Land, but it also didn’t seem to work (Logs show that the mode was changed but it didn’t Land).
It raced to something like 300 metres away. Disarming didn’t cross my mind, since I didn’t even have time to consider it, and it might have caused it to fall over some person. I was lucky since some guys who were passing by had seen it go vroom… It had crashed in a field. I have broken just one prop, bent one, and pulled a GPS connecter wire, which looks like a miracle to me. The LiPo was pulled off and an ESC had detached connectors from the PDB. Actually I feel very grateful there wasn’t any injury to someone or some serious damage to my quad.
I know the vibrations are high in the z direction (and I am trying to reduce those vibrations), but that doesn’t explain all the issues.
There’s a GPS glitch error, but EKF failsafe is set to Land too, so I don’t think that’s the issue.
Also, the position estimates according to the map are completely off.
According to the logs, it had rolled towards the right, but that is completely untrue. I don’t know how that data is there when nothing like that ever happened.
Also, I don’t see a reason why the logs end in the middle of the field. The rotors were clearly spinning quite fast till it crashed. If that hadn’t happened, the quad won’t have covered that much distance, I think.
Any help is appreciated.