Strange Optical Flow random oscillations?

ArduCopter Copter 3.6
1

Hey friends,

I have a build that is tuned up and flies really nicely. I’m running into a very strange intermittent issue. At the end of this log it started oscillating between motors B and D (the clockwise motors) so badly that it sensed a crash and landed. I can’t see much from the log, but I’m still learning. Any help is much appreciated!

https://drive.google.com/open?id=1r39O_n03m9xvTfOeGxXV3VF1TFsEEa-e

2

It looks to me like the battery voltage dropped to low. The battery monitor is reporting the voltage fell from 22.5V down to 15.5 which is very low for a 4S. Looks like the battery failsafe isn’t set-up.

By the way, I may have mentioned it before but I think it’s best to stick with EKF2 unless there’s a specific reason to use EKF3 (for example if using the Beacons).

1 Like
3

Thanks for taking a look at the log! I’ll switch back to EKF2. I’m not using beacons.