[MATEK F722 & FCHUB-W] lost control Inav 2.0 RC6

[spacyje]

Hello, I crashed with my flying wing in a very strange way since I installed a PDB Matek FCHUB-W and FC F722 STD under INAV 2.0 RC6. The first flight went smoothly but during the second flight, I felt like a loss of control for 2-3 seconds, as if the flying wing was stuck on the last order given.I was however not far and I neither lost telemetry, RSSI ok, no failsafe.After that I landed, quickly checked the connectors and I decided to try again one last flight....Big mistake! After taking off and after about 10 seconds, the same problem, only this time it was turning and with mid throttle. I lost control, the wing being stuck on a roll and mid throttle and crashing to the ground. The machine was shredded... During the descent of death I could not do anything, the command did not answer any more, RSSI to 80, telemetry ok. I also failed to disarm, the engine continued to run on the ground for a few seconds which stopped I come to ask your help to know if it has already happened to someone with this version of INAV because I don't know or look for the problem so far and I don't understand why everything has stuck like this. I also send you a dump if it helps, unfortunately I don't have log.

Thank you in advance for your help.

My setup:

• ARWING 900mm
• ESC 30a
• Motor 2204 2300KV
• PDB FCHUB-W
• FC MATEK F722 STD
• VTX AKK 1200mw & Runcam sparrow
• GPS Radiolink SE 100
• RX FRSKY X4R SBUS
• Lipo 4S 2000mah
• Radio FRSKY X7

version

INAV/MATEKF722 2.0.0 Aug 8 2018 / 18:37:07 (1c3b41527)

resources

mixer

mmix reset

mmix 0 1.000 0.000 0.000 0.000

servo mix

smix reset

smix 0 3 0 50 0 smix 1 3 1 50 0 smix 2 4 0 -50 0 smix 3 4 1 50 0

servo

servo 0 1000 2000 1500 100 servo 1 1000 2000 1500 100 servo 2 1000 2000 1500 100 servo 3 1000 2000 1500 -100 servo 4 1000 2000 1500 100 servo 5 1000 2000 1500 100 servo 6 1000 2000 1500 100 servo 7 1000 2000 1500 100

feature

feature -THR_VBAT_COMP feature -VBAT feature -TX_PROF_SEL feature -BAT_PROF_AUTOSWITCH feature -MOTOR_STOP feature -SOFTSERIAL feature -GPS feature -TELEMETRY feature -CURRENT_METER feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -BLACKBOX feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -RX_SPI feature -PWM_SERVO_DRIVER feature -PWM_OUTPUT_ENABLE feature -OSD feature -FW_LAUNCH feature -TRACE feature VBAT feature TX_PROF_SEL feature MOTOR_STOP feature SOFTSERIAL feature GPS feature TELEMETRY feature CURRENT_METER feature LED_STRIP feature BLACKBOX feature AIRMODE feature PWM_OUTPUT_ENABLE feature OSD

beeper

beeper RUNTIME_CALIBRATION beeper HW_FAILURE beeper RX_LOST beeper RX_LOST_LANDING beeper DISARMING beeper ARMING beeper ARMING_GPS_FIX beeper BAT_CRIT_LOW beeper BAT_LOW beeper GPS_STATUS beeper RX_SET beeper ACTION_SUCCESS beeper ACTION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper -ON_USB beeper LAUNCH_MODE beeper CAM_CONNECTION_OPEN beeper CAM_CONNECTION_CLOSED

map

map TAER

serial

serial 20 1 115200 38400 0 115200 serial 0 1 115200 38400 0 115200 serial 1 64 115200 38400 0 115200 serial 2 32 115200 38400 0 115200 serial 3 2 115200 38400 0 115200 serial 4 2048 115200 38400 0 115200

aux

aux 0 0 1 1775 2100 aux 1 1 0 900 1200 aux 2 2 0 1300 1700 aux 3 10 3 1650 2100 aux 4 28 3 1200 1600 aux 5 11 4 1725 2100 aux 6 0 0 900 900 aux 7 0 0 900 900 aux 8 0 0 900 900 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900

adjrange

adjrange 0 0 5 1000 1200 15 6 adjrange 1 0 5 1200 1425 18 6 adjrange 2 0 5 1625 1875 17 6 adjrange 3 0 5 1900 2100 20 6 adjrange 4 0 0 900 900 0 0 adjrange 5 0 0 900 900 0 0 adjrange 6 0 0 900 900 0 0 adjrange 7 0 0 900 900 0 0 adjrange 8 0 0 900 900 0 0 adjrange 9 0 0 900 900 0 0 adjrange 10 0 0 900 900 0 0 adjrange 11 0 0 900 900 0 0

rxrange

rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000

master

set looptime = 1000 set gyro_sync = ON set align_gyro = DEFAULT set gyro_hardware_lpf = 98HZ set gyro_lpf_hz = 40 set moron_threshold = 32 set gyro_notch1_hz = 0 set gyro_notch1_cutoff = 1 set gyro_notch2_hz = 0 set gyro_notch2_cutoff = 1 set gyro_stage2_lowpass_hz = 0 set vbat_adc_channel = 1 set rssi_adc_channel = 3 set current_adc_channel = 2 set airspeed_adc_channel = 0 set acc_notch_hz = 0 set acc_notch_cutoff = 1 set align_acc = DEFAULT set acc_hardware = MPU6500 set acc_lpf_hz = 15 set acczero_x = -6 set acczero_y = -17 set acczero_z = -13 set accgain_x = 4096 set accgain_y = 4089 set accgain_z = 4093 set rangefinder_hardware = NONE set rangefinder_median_filter = OFF set align_mag = DEFAULT set mag_hardware = HMC5883 set mag_declination = 0 set magzero_x = 116 set magzero_y = -203 set magzero_z = -106 set mag_calibration_time = 30 set align_mag_roll = 0 set align_mag_pitch = 0 set align_mag_yaw = 0 set baro_hardware = BMP280 set baro_median_filter = ON set pitot_hardware = NONE set pitot_use_median_filter = ON set pitot_noise_lpf = 0.600 set pitot_scale = 1.000 set receiver_type = SERIAL set min_check = 1100 set max_check = 1900 set rssi_channel = 7 set rssi_min = 0 set rssi_max = 100 set sbus_sync_interval = 3000 set rc_smoothing = ON set serialrx_provider = SBUS set serialrx_inverted = OFF set rx_spi_rf_channel_count = 0 set spektrum_sat_bind = 0 set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = OFF set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = SDCARD set sdcard_detect_inverted = ON set min_throttle = 1040 set max_throttle = 1850 set min_command = 1000 set motor_pwm_rate = 400 set motor_accel_time = 0 set motor_decel_time = 0 set motor_pwm_protocol = STANDARD set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 200 set failsafe_throttle = 1000 set failsafe_throttle_low_delay = 0 set failsafe_procedure = SET-THR set failsafe_stick_threshold = 50 set failsafe_fw_roll_angle = -200 set failsafe_fw_pitch_angle = 100 set failsafe_fw_yaw_rate = -45 set failsafe_min_distance = 0 set failsafe_min_distance_procedure = DROP set align_board_roll = -18 set align_board_pitch = 0 set align_board_yaw = 900 set vbat_scale = 1095 set current_meter_scale = 179 set current_meter_offset = 0 set current_meter_type = ADC set bat_voltage_src = RAW set cruise_power = 0 set idle_power = 0 set rth_energy_margin = 5 set thr_comp_weight = 1.000 set yaw_motor_direction = 1 set yaw_jump_prevention_limit = 200 set platform_type = AIRPLANE set has_flaps = OFF set model_preview_type = 8 set fw_min_throttle_down_pitch = 0 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set servo_center_pulse = 1500 set servo_pwm_rate = 100 set servo_lpf_hz = 20 set flaperon_throw_offset = 200 set tri_unarmed_servo = ON set reboot_character = 82 set imu_dcm_kp = 2500 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 10000 set imu_dcm_ki_mag = 0 set small_angle = 70 set fixed_wing_auto_arm = OFF set disarm_kill_switch = ON set auto_disarm_delay = 0 set switch_disarm_delay = 250 set gps_provider = UBLOX set gps_sbas_mode = NONE set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set gps_ublox_use_galileo = OFF set gps_min_sats = 6 set deadband = 5 set yaw_deadband = 5 set pos_hold_deadband = 20 set alt_hold_deadband = 50 set 3d_deadband_throttle = 50 set fw_autotune_overshoot_time = 100 set fw_autotune_undershoot_time = 200 set fw_autotune_threshold = 50 set fw_autotune_ff_to_p_gain = 10 set fw_autotune_ff_to_i_tc = 600 set inav_auto_mag_decl = ON set inav_gravity_cal_tolerance = 5 set inav_use_gps_velned = ON set inav_allow_dead_reckoning = OFF set inav_reset_altitude = FIRST_ARM set inav_reset_home = EACH_ARM set inav_max_surface_altitude = 200 set inav_w_z_surface_p = 3.500 set inav_w_z_surface_v = 6.100 set inav_w_xy_flow_p = 1.000 set inav_w_xy_flow_v = 2.000 set inav_w_z_baro_p = 0.350 set inav_w_z_gps_p = 0.200 set inav_w_z_gps_v = 0.100 set inav_w_xy_gps_p = 1.000 set inav_w_xy_gps_v = 2.000 set inav_w_z_res_v = 0.500 set inav_w_xy_res_v = 0.500 set inav_w_acc_bias = 0.010 set inav_max_eph_epv = 1000.000 set inav_baro_epv = 100.000 set nav_disarm_on_landing = OFF set nav_use_midthr_for_althold = OFF set nav_extra_arming_safety = ON set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_radius = 100 set nav_wp_safe_distance = 10000 set nav_auto_speed = 300 set nav_auto_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_landing_speed = 200 set nav_land_slowdown_minalt = 500 set nav_land_slowdown_maxalt = 2000 set nav_emerg_landing_speed = 500 set nav_min_rth_distance = 500 set nav_overrides_motor_stop = ON set nav_rth_climb_first = ON set nav_rth_climb_ignore_emerg = OFF set nav_rth_tail_first = OFF set nav_rth_allow_landing = ALWAYS set nav_rth_alt_mode = AT_LEAST set nav_rth_abort_threshold = 50000 set nav_max_terrain_follow_alt = 100 set nav_rth_altitude = 1000 set nav_rth_home_altitude = 0 set nav_mc_bank_angle = 30 set nav_mc_hover_thr = 1500 set nav_mc_auto_disarm_delay = 2000 set nav_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_bank_angle = 30 set nav_fw_climb_angle = 30 set nav_fw_dive_angle = 20 set nav_fw_pitch2thr = 10 set nav_fw_loiter_radius = 5000 set nav_fw_cruise_speed = 0 set nav_fw_land_dive_angle = 2 set nav_fw_launch_velocity = 300 set nav_fw_launch_accel = 1500 set nav_fw_launch_max_angle = 45 set nav_fw_launch_detect_time = 40 set nav_fw_launch_thr = 1600 set nav_fw_launch_idle_thr = 1000 set nav_fw_launch_motor_delay = 150 set nav_fw_launch_spinup_time = 100 set nav_fw_launch_min_time = 0 set nav_fw_launch_timeout = 5000 set nav_fw_launch_max_altitude = 0 set nav_fw_launch_climb_angle = 13 set nav_fw_cruise_yaw_rate = 20 set nav_fw_allow_manual_thr_increase = OFF set telemetry_switch = OFF set telemetry_inverted = OFF set frsky_default_latitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = METRIC set frsky_vfas_precision = 0 set frsky_pitch_roll = OFF set report_cell_voltage = OFF set hott_alarm_sound_interval = 5 set smartport_uart_unidir = OFF set smartport_fuel_unit = MAH set ibus_telemetry_type = 0 set ltm_update_rate = NORMAL set ledstrip_visual_beeper = ON set osd_video_system = AUTO set osd_row_shiftdown = 0 set osd_units = METRIC set osd_stats_energy_unit = MAH set osd_rssi_alarm = 42 set osd_time_alarm = 10 set osd_alt_alarm = 150 set osd_dist_alarm = 2000 set osd_neg_alt_alarm = 5 set osd_artificial_horizon_reverse_roll = OFF set osd_crosshairs_style = DEFAULT set osd_left_sidebar_scroll = ALTITUDE set osd_right_sidebar_scroll = NONE set osd_sidebar_scroll_arrows = OFF set osd_main_voltage_decimals = 1 set osd_coordinate_digits = 9 set osd_estimations_wind_compensation = ON set i2c_speed = 400KHZ set debug_mode = NONE set acc_task_frequency = 500 set attitude_task_frequency = 250 set async_mode = NONE set throttle_tilt_comp_str = 0 set input_filtering_mode = OFF set name = AR Wing 900 set mode_range_logic_operator = OR set stats = OFF set stats_total_time = 0 set stats_total_dist = 0 set stats_total_energy = 0 set tz_offset = 0 set tz_automatic_dst = OFF set display_force_sw_blink = OFF set vtx_halfduplex = ON set vtx_band = 5 set vtx_channel = 1 set vtx_power = 4 set vtx_low_power_disarm = OFF set vtx_freq = 5658 set vtx_pit_mode_freq = 0

profile

profile 2

set mc_p_pitch = 40 set mc_i_pitch = 30 set mc_d_pitch = 23 set mc_p_roll = 40 set mc_i_roll = 30 set mc_d_roll = 23 set mc_p_yaw = 85 set mc_i_yaw = 45 set mc_d_yaw = 0 set mc_p_level = 20 set mc_i_level = 15 set mc_d_level = 75 set fw_p_pitch = 20 set fw_i_pitch = 30 set fw_ff_pitch = 15 set fw_p_roll = 25 set fw_i_roll = 30 set fw_ff_roll = 15 set fw_p_yaw = 0 set fw_i_yaw = 0 set fw_ff_yaw = 0 set fw_p_level = 20 set fw_i_level = 5 set fw_d_level = 75 set max_angle_inclination_rll = 600 set max_angle_inclination_pit = 500 set dterm_lpf_hz = 40 set yaw_lpf_hz = 30 set dterm_setpoint_weight = 1.000 set fw_iterm_throw_limit = 165 set fw_reference_airspeed = 1000.000 set fw_turn_assist_yaw_gain = 1.000 set dterm_notch_hz = 0 set dterm_notch_cutoff = 1 set pidsum_limit = 500 set yaw_p_limit = 300 set iterm_windup = 50 set rate_accel_limit_roll_pitch = 0 set rate_accel_limit_yaw = 10000 set heading_hold_rate_limit = 90 set nav_mc_pos_z_p = 50 set nav_mc_pos_z_i = 0 set nav_mc_pos_z_d = 0 set nav_mc_vel_z_p = 100 set nav_mc_vel_z_i = 50 set nav_mc_vel_z_d = 10 set nav_mc_pos_xy_p = 65 set nav_mc_pos_xy_i = 120 set nav_mc_pos_xy_d = 10 set nav_mc_vel_xy_p = 40 set nav_mc_vel_xy_i = 15 set nav_mc_vel_xy_d = 100 set nav_mc_heading_p = 60 set nav_fw_pos_z_p = 40 set nav_fw_pos_z_i = 5 set nav_fw_pos_z_d = 10 set nav_fw_pos_xy_p = 75 set nav_fw_pos_xy_i = 5 set nav_fw_pos_xy_d = 8 set nav_fw_heading_p = 60 set thr_mid = 50 set thr_expo = 0 set tpa_rate = 33 set tpa_breakpoint = 1300 set fw_tpa_time_constant = 0 set rc_expo = 40 set rc_yaw_expo = 20 set roll_rate = 20 set pitch_rate = 20 set yaw_rate = 20 set manual_rc_expo = 70 set manual_rc_yaw_expo = 20 set manual_roll_rate = 100 set manual_pitch_rate = 100 set manual_yaw_rate = 100

battery_profile

battery_profile 1

set bat_cells = 0 set vbat_cell_detect_voltage = 430 set vbat_max_cell_voltage = 420 set vbat_min_cell_voltage = 330 set vbat_warning_cell_voltage = 350 set battery_capacity = 1300 set battery_capacity_warning = 0 set battery_capacity_critical = 0 set battery_capacity_unit = MAH

[digitalentity]

Loss of control is indication of either radio failsafe or bad receiver connectivity. Can you provide blackbox log or DVR recording of the flight?

[spacyje]

No, unfortunately I haven't DVR and blackbox of the flight. I never had a failsafe problem with this receiver and radio and was within 50 meters when it happened. I remember that the only thing I changed between the first and second flight was the power of the vtx that I went from 25mw to 1200mw via the SmartAudio.

[spacyje]

On the first flight a few minutes before I was over a mile away.

[digitalentity]

1.2W is quite high power. It may cause interference to wires nearby and possible disrupting SBUS communications. On your next build make sure your VTX is as far as possible from FC, receiver and other wires.

[spacyje]

you think? After measurements the VTX antenna is about 20cm from the RX and FC.

[davidngrc]

my friend also using 2.0RC6 with crossfire last sunday, first flight was ok (around few minutes).

then on the second flight, he test different mode, and he hit the return to home switch, then starting to lost DVR signal. the plane never went back home, I guest it hit the ocean.

I don't have his detail setup, but here is the DVR I recorded. https://youtu.be/iUOuHG4hP04

[spacyje]

Could you ask about his setup ?

[Allerhopp]

Looks like a power supply issue

[davidngrc]

I assume this happen, when my friend hit return to home switch. the flying wing start to turn, as shown on the fpv video feed.

then somehow the power wire to vtx got loose, that is why we are seeing a stable battery voltage at 15.8v till the end, but losing fpv video slowly due to vtx solder some capacitor. if the vtx die or without the capacitor, we will lose fpv video immediately, not slowly. but that does not explain why the plane never came back, because we stay there for 5 hours.

after the fpv video feed got lost, I starting to notice my friend's x9d vibrating, I assume it is the failsafe. then 2 or 3 second pass, my friend take off his fatshark, and said he lost his plane. we all are stunned, because he is the iNav master among us, the last plane he lost was about 4 years ago he said.

[digitalentity]

@davidngrc plain on failsafe went into emergency landing. This is an indication that FC doesn't know where home is or how to steer towards home. Could be intermittent GPS failure or setup issue. Dump may help troubleshoot.

[digitalentity]

After a more detailed investigation I believe this is the same issue as described in https://github.com/iNavFlight/inav/issues/3761. Fixed in 2.0 final