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Copter: vibration failsafe broken in 4.1 #17834

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rmackay9 opened this issue Jun 22, 2021 · 0 comments · Fixed by #17837

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rmackay9 commented Jun 22, 2021

Sadly the vibration failsafe has been broken somehow between Copter-4.0 and 4.1.

This can be reproduced in SITL by doing the following:

start SITL copter
param set EK3_IMU_MASK 1 (to enable only a single IMU)
loiter
arm throttle
rc 3 2000 (climb to 30m)
rc 3 1500
param set SIM_ACC1_BIAS_Z 2 (to set an accelerometer bias of 2m/s/s)

The good news is:

the vibration compensation will be triggered
EKF failsafe triggers and teh vehicle switches to LAND

The bad news is the vehicle keeps climbing

rmackay9 added BUG Copter labels

rmackay9 mentioned this issue

Copter: 4.1.0 issues list #16478

Open

lthall mentioned this issue

AC_AttitudeControl:AC_PosControl: vibration failsafe fix #17837

Merged

rmackay9 closed this as completed in #17837

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