Hello everyone,
I was flying a guided mission with F9P RTK. Suddenly the copter went into EKF failsafe followed by Vibe failsafe and then it came to RTL due to fence breach.
I can see that RTK messages were incoming then too the GPS accuracy, HDOP went high. Can someone please tell what is root cause and how can i avoid it in future.
Log- 00000016.BIN - Google Drive
Thankyou!
That’s some old firmware.
GPS Status went from RTK-Fixed (6) to Standard Fix (4), then the position and velocity Innovations spiked triggering Vibration Compensation and EKF Failsafe and Land Mode. Probably a good thing it breached the Fence and switched to RTL. By that time the failsafe had cleared.
The RTK fix changed to float even when it was receiving rtk messages. Thats what surprises me. Any thoughts on this?
Think it blew right thru Float which is Status 5 isn’t it?
Yeah but if you see rtk messages they were absent only for 2 seconds.
RTK signals are very sensitve. You can not count on a permanent RTK fix. It just isn’t that reliable.
@dkemxr @amilcarlucas
How can i avoid this in future? I have been flying this for past 6 months everyday. This kind of error occurred for first time. There were logs where rtk messages missed for 2 seconds but this incident never happened.
Not sure. It only takes 1 second after the conditions are met for Vibration Compensation to activate. Why are you using V4.4?
I am using 4.4 for a year now and it never complaint.
If updating will solve the issue i can workout.
V4.6.0-beta1 has a slew of EKF changes. V4.5 probably did too but I didn’t specifically look at that. I think it’s good practice to always be using the latest Stable version. I use beta versions on most craft but I realize that’s a preference not all will take.
Has vibration failsafe been removed in 4.5?
No it has not - why do you think it has?
Okay.
@dkemxr I have set gps update rate as 200 ms but in logs i can see it has went to 185 ms when the rtk status changed. Is this something to worry? Why would update rate increase by itself?
Is the CPU load affects these things?
