shancock884
commented
2 months ago The log also shows a bug where we can change to a lane that has just had a reset. The reset drops the innovations for a short time, which opens a window for the lane change to happen. As we don't change again for 5 seconds this means we can be on an extremely bad lane for 5 seconds.
I think this may be what just happened to our quadplane-tailsitter. Probably an issue with IMU sensors, meant non-active EKF was struggling, but when it reset its position and velocity, it looked good for a short time, and so got switched to. Result was not good for the drone :-(. We have Plane 4.5.3, which I believe includes the merged PR, but if I understand correctly, the aspect around 'don't switch right after a reset' is not covered by it?
This is an example replay log of EKF3 first lane failing badly with copter 4.4.0beta1. The 2nd lane did an emergency yaw reset and worked fine. The first lane didn't and failed badly. The compass has some error, but should not be enough to produce the errors it did. Of most concern is how badly off the roll estimate went:
Log here:
https://drive.google.com/file/d/1vol9CKMt5aKm9gLR81fK7fQ_uVkVk12r/view?usp=share_link
The log also shows a bug where we can change to a lane that has just had a reset. The reset drops the innovations for a short time, which opens a window for the lane change to happen. As we don't change again for 5 seconds this means we can be on an extremely bad lane for 5 seconds. The copter was in ACRO mode so it survived, if it had been in a position controlled mode it would have been very bad:
this log has signs of bad aliasing:
it is a MatekH743