we have a quadplane running arduplane 4.0.9 stable. We have had 2 successful flights. The vehicle flew excellent on flight 4, but the flight 5 was odd and nearly lost control of the vehicle in both QSTABALIZE and FBWA mode. No hardware or software changes were made between the flights. The only parameter deliberately changed was Q_VELZ_MAX,350
The takeoff in hover of flight 5 was fine, then about 20 sec after transition, lots of EKF errors occurred in mission planner and the plane was nearly uncontrollable.
All the hardware appears to be healthy from the logs. The two known issues on the vehicle are vibration during transition and compass problems. This may be the root issue, but why was flight 4 not affected?
vibration is high on flight 4 but did not appear to be an issue. vibration is higher on flight 5 and may have contributed to EKF issues.
- what is the cause of the gyro scale factor and bias drift on flight 5 - NKF2.GSX/Y/Z, NKF1.GX/Y/Z
know interference with the compass - ekfcompv
- what is the cause of the compass values - NKF2.MX/MY/MZ drift on flight 5 but not flight 4
mRo Control Zero H7 - mRo Control Zero H7
flight controller and servo power BEC - CC BEC 2.0 Waterproof Voltage Regulator
mRo GPS u-blox Neo-M8N - mRo GPS u-Blox Neo-M8N Dual Compass LIS3MDL+ IST8310 - mRobotics
mRo i2c airspeed sensor - mRo I2C Airspeed Sensor JST-GH - MS4525DO