@Kiwa21 wrote:
We've just had a flight with a large X8 running AC3.5 with some frightening errors.
During an AUTO mission, the EFK started to act strangely and quickly switched between source 0 and source 1.
This was probably caused by the fact that tht NKF5.rng went from 100m to 0m instantly while NKF5.HAGL and RFND.Dist1 stayed at 100m.
This happen at the EXACT moment NKF5.rng is at 99.5 and is supposed to go to 100.5m, instead it goes to 0.5m. Bug with the rng library or only ekf msg parsing ? I don't knowThe question is WHY ? This is scary !
When switching for EKF 0 to 1, Copter became very unstable in Pitch and Roll (following the Desired commands). It is logical because the Desired Climb rate changed with the altitude reading being false.After a few second, the NKF5.HAGL, so basically the Ground Level Altitude seen by the drone, went from 100 to 0 as well. Fortunately, pilot already changed the flight mode to Stabilize otherwise I'm sure we would have seen a rocket drone.
I must precise that EK2_ALT_SOURCE is set to 1 (rangefinder) EK2_RNG_USE_HGT is set to 50% (so 50m of RNGFND_MAX_CM = 1000 cm = 100m).
Log is here : https://ufile.io/acgua
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