EK3 Core become unhealthy after several continuous arm-disarm cycles

ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source

http://ardupilot.org/

GNU General Public License v3.0

11.02k stars 17.58k forks source link

EK3 Core become unhealthy after several continuous arm-disarm cycles #18104

Open SergeyBokhantsev opened 3 years ago

SergeyBokhantsev commented 3 years ago

Copter is standing on a table, just repeating arm-disarm leads altitude and climb rate go crazy and finally EK3 becomes unhealthy. Also at some moment when arming the altitude (both in logs and on OSD) jumps, for example from -2 to -5 meters.

Version 4.1.0-beta6 GSF mode, no compass

Platform [ x] Copter

Airframe type micro X

Hardware type iFlight BeastF7

Logs 2021-07-24 19-25-41.zip

SergeyBokhantsev commented 3 years ago

Just for information, I've described another strange behavior here: https://discuss.ardupilot.org/t/copter-4-1-0-beta5-has-been-released-for-beta-testing/73110/34?u=sergbokh that seems related on logging. But the behavior described in this ticket reproduces stable with enabled and disabled logging.