Yesterday we flew our tailsitter VTOL in multicopter stabilise mode. A few seconds after takeoff at ~1m altitude, the attitude estimation made a step change in all 3 axes. From one logging point to the next, the Yaw changed 270deg, roll 25deg and pitch 15deg. Attitude controller responded appropriately to its given inputs and caused a hard landing, luckily not too badly damaged.
Firmware is based on PX4 1.9.0 with some minor changes to attitude control, but no changes to attitude estimation. Hardware is Holybro Pixhawk 4.
@Paul_Riseborough or anybody else, do you have any insight into why this may happen? How can I tell if it was hardware or software?
Thanks in advance!