I have a 20 kg 3 m wing span Quadplane.
1- I had a short flight where GPS Failure occurred (I don’t know why) for few times.
2- This GPS Failure event made Ground SPEED ZERO and triggered FAILSAFE to Disabled Airspeed sensor considering it unhealthy(as it assumed the difference between both Airspeed and GPS Speed is >15 m/s),which triggered a Q-Assist etc.
2- This Q-Assist went away and resumed a normal flight then whole story repeated but it remained in Q-Assist for ~7 mins(08:46 to 8:53 mins) and exhausted the VTOL Battery.
3-Finally, it again resumed flight, but the battery was not enough to complete transition and land UAV safely.
Questions:
A- How to Cater Momentary GPS failure and not allow to Disable Airspeed Sensor in addition? I was told to use this un–Healthy Airspeed sensor failsafe feature to improve reliability in case Airspeed sensor becomes faulty but it created a MESS due to GPS failure?
B- Why Prolonged Q-assisted did not terminate timely?
C- Why it took so long to ENABLE Airspeed sensor after GPS becomes healthy(08:46 to 8:53 mins) ?
D- Why throttle was low (28~48 %) even set to 65 percent in failsafe(Sensor disabling)?
E-Why i had so many EKF & DCM errors?
Datalog is below: