@frizensami wrote:
Hello everyone, I think I have another puzzler on my hands.
I'm running a Goblin 500 Sport, with ArduCopter 3.4.4. Today, I ran up the chopper to my takeoff RPM in Altitude Hold mode, and then switched to Loiter mode right before takeoff. After that, it took off and loitered at around a height of 3 meters for 15 seconds. It suddenly descended and hit the ground, lifted off again, triggered an EKF failsafe, and entered into LAND mode and hit the ground again. Until the first time the copter hit the ground, I moved nothing on the transmitter after stable loiter.
I observed that under the logs, CTUN.DAlt (desired altitude) is stable, but CTUN.DCRt (desired climb rate) suddenly becomes negative, indicating that that copter is being commanded to descend, and the actual descent rate (CTUN.CRt) follows what is commanded. I'm confused: why can the desired altitude and altitude be stable but at the same time (no real altitude error), but have a negative required climb rate?
I'm hoping someone could take a look at the log file and see if this makes any sense to them Image may be NSFW.
Clik here to view.Thanks in advance!
176-1stloiter.BIN (1.2 MB)
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