Hello CubePilot community. Your help is always invaluable. This incident happened yesterday, while flying at 5000 mts above sea level. In a routine loiter test, the 1400mm coaxilal quad (26" propellers and 22mAh battery) suffered a sudden drop of alitude which ended up breaking the landing gear.
The following was the message that I received from telemetry:
In the image, it can be seen that the drone looses confidence on its vertical measurement, and tries to change EKF mid-flight. Also, the following can be seen in the barometric altitude vs the EKF estimated altitude:
It appears as if the main barometer spikes and causes the drone to descend, but id did so in an uncontrolled matter.
The internal barometers show that indeed something happened, but I dont understand why the EKF did not reject that measurement. Is there anything else I am missing?
(possible miss-tuning, compass, power,…)
The log is the following:
Thank you for your time