# Drone crash from mid-Air

**URL:** <https://discuss.cubepilot.org/t/drone-crash-from-mid-air/17716>\
**Category:** Cube Autopilot\
**Created:** [16 July 2026 08:11 UTC](https://discuss.cubepilot.org/t/drone-crash-from-mid-air/17716 "2026-07-16T08:11:44Z")\
**Posts on this page:** 2\
**Page:** 1

<div class="post-metadata">

**Author:** ![NOLAIR](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/nolair/32/9770_2.png) [@NOLAIR](https://discuss.cubepilot.org/u/NOLAIR)\
**Post date:** [16 July 2026 08:11 UTC](https://discuss.cubepilot.org/t/drone-crash-from-mid-air/17716/1 "2026-07-16T08:11:44Z")

</div>

My drone having some issues, I take off with Atitude hold mode, everything seems normal. 1-2 minute time it will fly and crash. I don’t know if the Esc or motor shortdown or PID

[https://drive.google.com/drive/folders/1NG3H8IfO7GGAko8qHbQbDju7JbXK0AXB?usp=sharing](https://drive.google.com/drive/folders/1NG3H8IfO7GGAko8qHbQbDju7JbXK0AXB?usp=sharing)

---

<div class="post-metadata">

**Author:** ![Mish](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/m/e47774/32.png) [@Mish](https://discuss.cubepilot.org/u/Mish)\
**Post date:** [23 July 2026 04:46 UTC](https://discuss.cubepilot.org/t/drone-crash-from-mid-air/17716/2 "2026-07-23T04:46:25Z")

</div>

I’ve had a look at the logs, and it isn’t obvious what caused the crashes but here are my thoughts so far.

In the first log (going by earliest time), a battery failsafe occurs (should have switched to SmartRTL or Land as per your config), the reported altitude drops by ~3 metres over 15 seconds, then a crash is detected. The battery got down to 19.8 V (assuming calibrated voltage reading) at the time it appears to have crashed - ~3.3V per cell if you are running 6S Li-po (essentially, dead battery). Maybe it didn’t have enough power to land correctly?

In the third log, there is a sharp GPS position change and some unexpected pitch & roll changes, right before the POS and GPS track deviate and the errors occur (‘EKF-PRIMARY-2’, which tells us it switched to another EKF source because of bad data detected). The IMUs all measured the same movement, indicating the movement was real. The RC inputs show you didn’t request these movements - agree?

 ![image](https://discuss.cubepilot.org/uploads/default/original/2X/0/0a780e83b0a3016bfc0e84d626ce2c3be9d1b870.png)

The location appears to be a building, from satellite. Are you flying inside, next to it, or over the roof? Or is the GPS position not matching the satellite image?

What is the setup (autopilot, GPS, ESCs, frame, anything else you think could be useful)?