What happened here?

ArduCopter Copter 4.2
1

What I did:

  • 2 days ago I flew this copter without any issues
  • Yesterday I did some edits, namely enabling harmonic notch (which I had previously forgotten) and some other things like proximity
  • Then I upgraded to a new custom built FW (on Kakute F7 AIO it’s needed for CRSF telemetry to work)
  • I also saved the parameters to a new file on disk, like I do all the time when editing

Today when I wanted to fly it:

  • All the edits were gone (later confirmed by downloading params to disk again) - but I thought well, it flew ok with the old settings, so I’d test those again at least
  • Shortly after launch, the copter tilted to the right and threw a dozen errors at once
  • The log has entries/errors I’ve never seen before, including AUTO_ARMED instead of a normal arming event, and EKFINAV. Here it is: WeTransfer - Send Large Files & Share Photos Online - Up to 2GB Free

What I’m wondering about:

  • Is this an issue with this copter (which flew perfectly before), or does it more look like I simply caught a bad latest version with the custom FW builder?

Thanks!

Bonus question (not worth another thread I guess):

From the wiki: “Set INS_HNTCH_FREQ and/or INS_HNTC2_FREQ = below the hover frequency - you can easily determine this by performing a gentle hover and looking at the ESC telemetry data”

  • It occured to me that I never quite understood how to do that, so on my other (smaller) copters, INS_HNTCH_FREQ and INS_HNTCH_BW were simply left on default. But it would be interesting to know what value to look at and what calculation to make.
2

Sounds like the symptoms of uploading plane instead of copter

3

This is the file I saved along with the build (I guess it can be found in FW builder history by the hash, but I don’t know how) - is it plane? It’s very hot here so any kind of error can happen I guess…

{“selected_features”: [“EKF3”, “UBLOX”, “OSD”, “OSD_PARAM”, “LANDING_GEAR”, “RANGEFINDER”, “RANGEFINDER_BENEWAKE_TF02”, “RANGEFINDER_BENEWAKE_TF03”, “RANGEFINDER_BENEWAKE_TFMINI”, “RANGEFINDER_BENEWAKE_TFMINIPLUS”, “FENCE”, “PROXIMITY”, “AC_AVOID”, “BMP085”, “BMP280”, “BMP388”, “DPS280”, “FBM320”, “ICM20789”, “KELLERLD”, “LPS2XH”, “MS56XX”, “SPL06”, “AIRSPEED”, “CRSF”, “CRSFText”, “QUAD”], “git_hash_short”: “26d3ffc27d”}

4

I can’t see that commit has anywhere - so no idea

5

I think this should be it, and it was copter (built on August 13):

build
build792×161 52.5 KB

The feature list looks incomplete though. Of course I will try again anyway. I just thought if I didn’t mistakenly select plane, could this be a bug in FW builder?

APJ used: arducopter-custom-430dev.apj (772.8 KB)

EDIT: It looks like there is something wrong - “Waiting for build to start…” (Build ID: copter:KakuteF7:b6186db24e59b3e319a3b8fc2e76e32232ad5281:d6d38ffae352eb99a648ef07185e4b41)

EDIT2: Finished in the meantime, will flash it later. Is there any way I can make sure at home that it will not do the things it did when I tried flying?

6

bench test it in stabilised mode with the propellers off it to make sure it does what its supposed to when you give it inputs.

7

Of course, I just thought there might be a way to specificly check for all those errors I got yesterday - but on the other hand, strike that: I usually have almost no GPS reception indoors, so it wouldn’t be possible anyway.

8

There was a bootloader issue as well that got fixed recently, but don’t think it affects your board

9

According to my files, this board was last flashed with_bl on May 2, 2020.