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ArduPilot / ardupilot

ArduPlane, ArduCopter, ArduRover, ArduSub source
http://ardupilot.org/
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Copter: add an over speed fail safe feature to my multicopter #24394

Open muramura opened 1 year ago

muramura commented 1 year ago

Feature request

I would like to add an over speed fail safe feature to my multicopter.

Is your feature request related to a problem? Please describe.

I flew over the loiter horizontal travel speed and loiter climb speed on my multicopter and the fence was also disabled.

I have learned that the overspeed prevents the fence from fencing.

Describe the solution you'd like

I will add a speed check to the task. I measure the speed of movement by GPS speed, etc. while flying in a flight mode that defines a maximum speed of horizontal movement and climb speed, and if the maximum speed is exceeded, I crash the aircraft. This does not exceed the base, maximum speed. If the maximum speed is exceeded, it indicates that ArduPilot is not in flight control.

Describe alternatives you've considered

none

Platform [ ] All [ ] AntennaTracker [X] Copter [ ] Plane [ ] Rover [ ] Submarine

Additional context

none

muramura commented 1 year ago

The vehicle was ascending, but the altitude of the EKF was decreasing, so the motor was turned up and continued to ascend and move further. This rate of ascent and movement exceeded the LOTER limit.

Many altitude irregularities of the EKF were raised.

AC4.0 https://discuss.ardupilot.org/t/altitude-estimation-failure/67813

https://discuss.ardupilot.org/t/continuous-uncommanded-climb-suspecting-ekf-issues/63137

AC3.4 https://discuss.ardupilot.org/t/ekf2-altitude-estimation-problems/17579