We had a flyaway incident after MAV_SYS_STATUS_SENSOR showed false for MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL (0x4000 x/y position control).
The drone was behaving erratically in LOITER, RTL and GUIDED mode. The Geofence triggered RTL but it breached the geofence and moved in the opposite direction very fast.
We suspect IMU or GPS issues. Unfortunately there are no logs as the drone battery shorted after crashing and destroyed the frame and cube.
The bahaviour is very similar to this link : Multicopter almost fly away
Any guidance will help.
GPS : Double HOLYBRO H-RTK F9P Helical ( Processor SKU12018)
Ground Control Software : QGCS (SKYDROID – H16 Pro)
We do not see any logs in the Skydroid.
uSD card damaged due to battery heat.
I would like to know whether using the version 4.3.5 instead of 4.4.x in Arducopter have any major issues for us. Any assistance or pointers would help.