Guys, I’m new to PX4 community and I recently experienced a crash with my custom-built aircraft and noticed a very unusual behavior during the flight. Specifically, when I reduced the throttle using Position Mode, the aircraft continued to climb instead of descending as expected. I had to switch to Stabilized Mode to lower the height of the UAV, then it came totally uncontrollable leading to final crash. Here are some flight reviews I have found: https://review.px4.io/plot_app?log=742b97f8-91ef-49ae-a092-5e84a3e4ed54. Has anyone encountered similar behavior in PX4? Any insights or debugging tips would be highly appreciated. Thanks for ur replies!!!
At the moment when the aircraft starts climbing aggressively,
the position Z setpoint disappears from the plot.
Before the aggressive climb starts, the system reports
‘High accelerometer bias’.
Shortly after that, the position Z setpoint disappears from the log.
This suggests that the EKF no longer trusted the IMU,
the vertical position estimate became invalid,
and the position controller lost its Z setpoint and fell back
to a thrust-based behavior, which explains why reducing throttle
did not stop the climb.