Unexpected lockdown in position mode

Hi all,

We are a small team, and we are building custom drone. We experienced critical failure detection and system lockdown in two flights in position mode, resulting in 2 crashes and costing us Nvidia jetson nano onboard computer.

From what I read in here: Unexpected Flight Termination/Lockdown

System lockdown can occur if the reading in roll or pitch offset is greater than 60deg. But I don’t see this phenomenon in the log files.

Log files:



I see in the log that px4 is giving minimal thrust for 3s which is the set limit for system lockdown and then performs the lock down.

Is this supposed behavior? I found in documentation only 60deg limits for pitch and roll.

Thanks for advice.