Please lend me an eye and help me figure out what caused this flyaway.
I was flying my drone, a octoquad with pixhawk 2.4.8, with 2 RTK GPS antennas injected through HIL GPS. We lost control of the drone and had a bad flyaway about 3 months ago, and we were only able to retrieve it yesterday.
We’ve been pouring over the data, and we think our RTK GPS worked the way it should (both RTK GPS antennas recorded same position data, and we inject only one of the antenna to the pixhawk), and the pixhawk seems to be at fault. But in the pixhawk flight log, we are not able to figure out what caused the glitch exactly. Therefore I uploaded the log hoping someone can help figure out the issue.
In the pixhawk log, please look at the first 110K lines, especially before the “ERR: GPS-2” came on. It’s a very long because it was stuck in the tree still recording.
Some relevant parameters:
EK2_POSNE_M_NSE is set to 0.1 to trust RTK GPS.
EK2_ALT_M_NSE is set to 8.5 to trust RTK GPS more.
All other EKF noise factors are default.