Source of "attitude invalid" flag?

PX4 Autopilot
1

Hello, newbie here when it comes to analyzing logs.

I recently had a crash due to a midflight termination. I’m flying the hero UAV Vtol system with a Pixracer Pro flight controller, and the flight was supposed to be a simple hover. We were able to arm the drone, and hover for 20 seconds in place, when suddenly all power was cut.

The logs indicate that an “attitude invalid” flag was thrown, which results in a complete cut of power. I can’t find any information about why this would have been thrown, and why “terminate” is the automatic fail condition associated with this flag. Any additional insight would be very helpful.

Other strange anomalies that I see in the logs:
-local and global estimations have a lot of error .
-There seems to be a huge amount of estimated pitch, roll, and yaw rate.

Logs:
https://review.px4.io/plot_app?log=0eed6973-883d-4a1c-90fc-9d1b2f433174

Thanks.

2

Hi Jadyn,

I took a look at your flight log and was able to see that your vehicle is struggling to match the desired outputs, this might be because of your tweaks on the EKF, also I would check how you are handling the MAG settings and reduce any inconsistencies and then start over with default values for the EKF.

Regards.

3

I don’t think I made any changes to the EKF. Are you seeing that I did?

Thanks for looking those over.