Quadcopter crash in position mode

[Jwka380]

PX4 1.13.2, cube orange/jetson xavier companion computer, quadcopter 4.9kg

Hi all,
I've had a crash with my drone whilst flying in position mode with RC (without using the companion computer). I tried to switch back to manual but unfortunately could not save the drone anymore. Whilst analyzing the log files, I can’t directly find what might have caused the crash. I do see at the point where it went wrong a sudden jump in the roll and pitch set points, shortly after followed by one of the motors going to max thrust. The velocity controller seems to give some oscillations with a rather low damping. If there is anyone who might be able to shed some light on what might have gone wrong, it would be highly appreciated.

Logfile:
20230328.zip
Parameter file:
parameters.zip

[DronecodeBot]

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-april-05-2023/31435/2

[Jwka380]

Companion computer output during test flight where crash occurred : SET_POSITION_TARGET_LOCAL_NED(SET_POSITION_TARGET_LOCAL_NED_DATA { time_boot_ms: 0, x: 0.0, y: 0.0, z: 0.0, vx: 0.0, vy: 0.0, vz: 0.0, afx: 0.0, afy: 0.0, afz: 0.0, yaw: 3.1012757, yaw_rate: 0.0, type_mask: POSITION_TARGET_TYPEMASK_X_IGNORE | POSITION_TARGET_TYPEMASK_Y_IGNORE | POSITION_TARGET_TYPEMASK_Z_IGNORE | POSITION_TARGET_TYPEMASK_AX_IGNORE | POSITION_TARGET_TYPEMASK_AY_IGNORE | POSITION_TARGET_TYPEMASK_AZ_IGNORE | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE, target_system: 1, target_component: 1, coordinate_frame: MAV_FRAME_LOCAL_NED })

[DronecodeBot]

This issue has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there:

https://discuss.px4.io/t/px4-community-q-a-april-05-2023/31435/9