Hello, I was flying copter v4.4.3, just hovering in POSHOLD, when suddenly the position controller apparently suddenly thought its position was very far away from the hover point, inducing a crash.
Here’s an image of the estimated position:
We can see it jumps to around 70,000 meters away.
I’m not sure where this position setpoint could have come from. We were in fact using visual odometry for position, but the visual odometry data looks normal, no major jumps:
Any suggestions for debugging or understanding how this happened?