@metalpiotr wrote:
Unfortunately I cannot provide any logs as my quadcopter is at the bottom of a lake. The flight controller was a cheap APM 3.1 Mini upgraded to 3.3. I have not yet performed AutoTune on it, but on the 10-15 flights I performed on it, it flew alright. The altitude hold was not perfect (after a sudden stop it would tend to gain altitude), but overall was ok.
I finally configured my transmitter to allow for more flight modes so I was able to try Position Hold for the first time. I ensured my GPS acquired satellites, thenI took off, flew around for a minute on a full battery, then went over a small lake. As I was returning I notice I was slowly losing altitude. I cranked up the throttle, but it did not seem to make a difference. I switched to Stabilize, but it kept losing altitude. It hit water before making it to shore.
It seemed as if it was in landing mode, as the decline in altitude was fairly smooth. However, I did not have Land as any of my failsafes, nor did I have the Land mode enabled as one of my available modes... so I don't know why it would go into Land mode. The best explanation I could come up with is some software bug (I imagine with a hardware malfunction things would be more abrupt... but I might be wrong).
I did not go very far and my transmitter gave me no warnings of loss of signal. The battery was also full.
Probably what's worse than losing the quad is not understanding why it happened. I have another APM mini board around, but I'm not sure I want to put it on my next build. Any suggestions would be greatly appreciated.
Here is a link to my apm parameters, in case it could be of any use:
https://www.dropbox.com/s/30on1kwpajv7vvb/apm_params.param?dl=0
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