The speed of the plane looked like a sudden change when I tested it. I should change that parameter to change the situation
I can see that the plane went into Descend mode but I can’t tell why from just this graph. You would have to share a log on https://logs.px4.io for us to have a look.
OK，I have changed EKF2_GPS_V_NOISE to 1.5.It no longer prompts “no local position” and " no global position ".I don’t know if that’s the best thing to do