Multiple flyaways in guided - do I need to tune the EKF?

@Clem wrote:

I had 3 successive flyaways yesterday while flying in guided mode. The copter darted towards the horizon at high speed until I regained control by switching to LAND mode.
In all 3 cases that happened after a couple of minutes of uneventful flight with the copter doing normal manoeuvers in guided mode. In flight the onboard computer is sending velocity commands to the pixhawk

Here is what I've found in the log for 1 of the flights:
The GPS speed log shows the flyaway very clearly (speeds up to 8m/s):

GPS_speed.png1334x461 76.8 KB

The EKF IVE velocity innovation spikes to 3 at the time of the flyaway:

EKF_innovation.png1330x464 68 KB

Same thing for the EKF IPE which spikes at 6m during the flyaway.
The satellite count is 10 for the entire flight before the flyaway, it dips to 9 two seconds after the flyaway starts.
Here is the log:
2017-05-12 12-45-02.log (4.2 MB)
And the bin file:
2017-05-12 12-45-02.bin (1.9 MB)

I've flown this copter for 50+ flights but this is the first time that happens.
Main questions I'm trying to answer:

1. What triggered the flyaway?
2. How do I change parameters so that doesn't happen again?
3. If that ever happens again, how do I prevent losing my copter if it flies to the horizon? (bar retaking manual control) Will the geofence stop it? Should I set EK2_GLITCH_RAD to a lower value?

Thanks for the help!

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