CUBE BLACK crashed AC 3.6.7 firmware( hexacopter)

Cube Autopilot
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IMG_20190417_113401
IMG_20190417_113401.jpg3264Ɨ2448 1.66 MB

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IMG_20190417_114341
IMG_20190417_114341.jpg3264Ɨ2448 2.43 MB

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Iā€™m wondering.

At that unfortunate crash you still had ONE IMU working which is used by second EKF core. Should the autopilot change to the other EKF core (with working IMU) when primary EKF core health is bad (as the sensors give bad health).

In my opinion this crash could have been avoided if autopilot would have decided to change primary EKF core to a second EKF core with working sensors.

Please correct me if Iā€™m wrong about this.

24

It seems that current ArduCopter EKF core switch can only happen when EKF estimation is bad for a short while (EKF score gets bad or multiple test ratios are over 1).

This delays core switch to unnecessarily long time in a clear case where sensor simply has failed.

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You can see in his photos that he only had 1 EKF enabled. so no it would not switch. EKF_IMU_MASK=1

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Anyway it seems that changes have been made to the failover logic which fixes this issue.

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it is a start, we are testing that fix at the moment.