Battery Fail-safe triggered during the flight, the mode changed to RTL then manually triggered QRTL. But plane was not approaching to home location but diverted and crashed.
As per Log analysis, before crash there was EKF lane switch as there was Airspeed sensor innovations and then compass also went unhealthy.
Log
VTOL details:
2.5 m wingspan, MTOW = 6.4 kg
CubeOrange Plus FC
Can based custom Air speed sensor
6s 32 ah battery
Right now I can’t view the log (mobile)
Yaw reset indicates that compass current compensation may not be configured correctly.
What was the wind direction? Could it be that the VTOL was positioning itself for a transition into the wind (or it thought the wind was coming from)?
Next time I would recommend switching to pilot controlled mode like FBWA (FW) or Q_ALTHOLD (VTOL) if RTL is doing something unexpected. Stall recovery, if it is needed, should be done in MANUAL as Ardupilot plane attitude controller is not suitable for stall recovery maneuvers
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I didn’t checked your logs yet but why did you switch to a high power consuming mode like QRTL on a plane if the battery is low. In such situation i think it would be better to stay in a plane mode and use as less power as possible to land the aircraft like a normal plane.
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If you check the log, you will see clearly during rtl it was heading to home but in between sudden roll movement started.
suspecting 1. due to sudden wind speed and change in direction caused this ? as there was already airspeed innovation.
2. due to my right aileron stuck or control surface malfunction ?
can you check the log once, im unable to think of a solid point but will follow your suggestions next time.