During my last flight I had an issue with pretty much hardware stable (as I thought) quad. I’m flying in AUTO mode. Right after takeoff quad started to climb at full throttle straight up into the sky. I tried to change mode to RTL with transmitter, but it had no effect and quad dissapeared into the clouds. After 20 minutes battery died and quad crashed nearby.
There is a tricky part. I’m using RTK GPS and trying to make a quad capable of precise landing, so during expirements I changed some of EKF parameters:
EK2_ALT_SOURCE 2 (default 0)
EK2_VELNE_M_NSE 0.05 (default 0.5)
EK2_VELD_M_NSE 0.05 (default 0.7)
EK2_POSNE_M_NSE 0.1 (default 1)
A few flights ago I switched to EKF3 as well.
After looking into the logs it turns out that EKF origin of quad was 2000 meters underground. GPS and baro were OK, but the error kept for 5 minutes, then altitudes suddenly came in sync.
Dataflash logs is here. Can someone help me determine the cause of that strange behavior?
Thank you for the help in advance.