Flip before take-off (SOLVED)

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Flip before take-off (SOLVED)

Postby rput » Sun Dec 14, 2014 8:19 pm

Hi,

After many flights without issue, we suddenly have a problem occur. One of our partners is flying a system we have put together. They were doing some mapping missions successfully when suddenly on the next flight the system flipped before take-off.

I looked at the log and see some strange things in the UKF_Q1-4 happening. Does anyone have any ideas what this could be from?

I wonder if the parameters did not load correctly or something. Anyway we can check this?

UKF_Q_Screenshot.jpg


Log file:

https://www.dropbox.com/s/avsvf7ewcr7sr8b/025-AQL.LOG?dl=0
Last edited by rput on Mon Dec 15, 2014 7:11 pm, edited 1 time in total.
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Re: Flip before take-off

Postby rput » Mon Dec 15, 2014 2:41 pm

We noticed that the system was sideways when they powered it on, could this explain such behaviour?
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Re: Flip before take-off

Postby bn999 » Mon Dec 15, 2014 3:47 pm

The board should be powered on in a near level attitude but more importantly, it should be left still and not moved until you get a green ready light. This might only take a second or two. Movement during initialization can cause poor initial GYO bias estimation. If this is difficult to achieve due to battery placement, I'd recommend hitting the reset button once the craft is sitting still.
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Re: Flip before take-off

Postby rput » Mon Dec 15, 2014 6:13 pm

Thanks Bill,

I suspect this is the most likely cause for the issues. We will let them know how to avoid it in the future.


Richard
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Re: Flip before take-off

Postby rput » Mon Dec 15, 2014 7:10 pm

We have successfully reproduced this issue with another system. It was indeed the initialization that Bill identified. We reproduced it by rotating the quad at power-up. First time I was relieved to see my system flip at take-off ;)

No worries, it was a soft landing without damage...

Cheers,
Richard
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Re: Flip before take-off (SOLVED)

Postby LordPikaChu » Tue Dec 16, 2014 4:31 am

bn999 wrote:The board should be powered on in a near level attitude but more importantly, it should be left still and not moved until you get a green ready light. This might only take a second or two. Movement during initialization can cause poor initial GYO bias estimation. If this is difficult to achieve due to battery placement, I'd recommend hitting the reset button once the craft is sitting still.

How close to leveled it should be? I was always told that board's position during init didn't matter because the absolute level is determined during full sensor calibration, not during board init.
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Re: Flip before take-off (SOLVED)

Postby bn999 » Tue Dec 16, 2014 1:55 pm

Just don't start it upside-down or on its side.
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