Pixhawk on solo reset in midflight... or something like that?

@Pedals2Paddles wrote:

I'm not sure what to make of these two incidents.

First Incident: I had it out hovering letting the battery run down. I wanted to test the battery failsafes. When the failsafe level was reached, it did hte usual solo response. Pixhawk switched to RTL. The companion computer immediately switched to guided mode, where it would normally execute it's own return to home procedure. But instead, it switched to guided mode and just sat there unresponsive. I was able to change modes back to loiter. It responded to controls, except yaw. I only have pitch, roll, and throttle. Brought it home manually and landed. Here is the telemetry video and data flash log.

https://drive.google.com/open?id=0BwxNJyHTG9XJSjljVWNCZjFybjg

Second incident. This one was a little more exciting.... Copter is hovering at about 180ft. I pushed the RTH button on the Solo controller. This should have put the Pixhawk in RTL, then the companion computer would have immediately switched it into guided mode and brought it home. Instead, the pixhawk appears to do some kind of reset in mid air. The attitude indicator shifts to inverted, as the pixhawk is mounted upside down. Telemetry seems to stop for about 5 seconds. Some messages come though that you'll see in the video. While this was happening, the copter lost attitude control and tumbled. When the pixhawk came back up, it immediately recovered. I've never seen anything like this before. Here is the telemetry video, GoPro video, and dataflash log.

https://drive.google.com/open?id=0BwxNJyHTG9XJQW9BZzltTWRVNXM

The only thing I changed since last time was switching INS_TRIM_OPTION from 1 to 2 as per this thread. Prior to flight, I did a full parameter reset, recalibrated accel, level, and compass. It was some of the best flying I'd ever had on this test bird. Everything flew GREAT. Except these incidents.

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