INAV 4.1 - Freeze during 45min flight.

[evildronepilot]

Current Behavior

I took my AR Wing pro for an endurance flight and as I was approaching 45 minutes in the air and at about 300-500m from home, in the cruise flight mode, the aeroplane stopped responding to the stick commands while being in the Cruise mode (No failsafe - RSSI 99% ) It entered a right turn with the nose down attitude just to smack into the ground at about 100-120km/h

1. The aeroplane was frozen. No response to any commands inc the flight mode switch.
2. RTH did not kick in and I do not believe I lost the link.
3. After the crash, all the electronic components are still working including servos, servo links, FC ... GPS is not working!

#The gear: INAV 4.1 On Matek F405 Wing R9MM ELRS 2.3.0 RX Edge TX 2.6 (stable - not nightly)

[MrD-RC]

Any DVR or blackbox logs?

[evildronepilot]

I will put the plane back together and try running it for 1h in the cruise flight mode, strapped, on the ground to simulate this. If I manage to replicate the failure I'll send the data.

For now I'm adding diff `

DIFF

version

INAV/MATEKF405SE 4.1.0 Feb 11 2022 / 10:52:32 (611d26f4)

GCC-10.2.1 20201103 (release)

start the command batch

batch start

resources

mixer

mmix reset

mmix 0 1.000 0.000 0.000 0.000 mmix 1 1.000 0.000 0.000 0.000

servo mix

smix reset

smix 0 3 0 50 0 -1 smix 1 3 1 50 0 -1 smix 2 4 0 -50 0 -1 smix 3 4 1 50 0 -1

servo

servo 3 1000 2000 1500 -100

safehome

logic

gvar

pid

feature

feature MOTOR_STOP feature BLACKBOX feature PWM_OUTPUT_ENABLE

beeper

blackbox

blackbox -NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS

map

serial

serial 0 0 115200 115200 0 115200 serial 1 0 115200 115200 0 115200 serial 30 0 115200 115200 0 115200

led

color

mode_color

aux

aux 0 0 0 1950 2075 aux 1 1 1 1950 2050 aux 2 12 1 950 1050 aux 3 53 1 1675 1775 aux 4 10 1 1225 1325

adjrange

rxrange

temp_sensor

wp

#wp 0 invalid

osd_layout

osd_layout 0 0 23 3 V osd_layout 0 1 12 0 H osd_layout 0 4 8 6 V osd_layout 0 7 13 12 H osd_layout 0 8 14 13 V osd_layout 0 9 1 2 H osd_layout 0 11 5 2 V osd_layout 0 12 5 4 V osd_layout 0 13 3 8 V osd_layout 0 14 22 2 V osd_layout 0 15 22 8 V osd_layout 0 22 15 4 V osd_layout 0 23 13 2 V osd_layout 0 26 22 12 V osd_layout 0 28 0 16 H osd_layout 0 32 5 3 V

master

set gyro_main_lpf_hz = 25 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 30 set acc_hardware = MPU6000 set acczero_x = 111 set acczero_y = -31 set acczero_z = -577 set accgain_x = 4092 set accgain_y = 4048 set accgain_z = 4012 set align_mag = CW270FLIP set mag_hardware = NONE set baro_hardware = SPL06 set receiver_type = NONE set rssi_channel = 15 set serialrx_provider = CRSF set blackbox_rate_num = 4 set blackbox_rate_denom = 5 set motor_pwm_protocol = STANDARD set failsafe_procedure = RTH set align_board_yaw = 900 set model_preview_type = 8 set small_angle = 180 set imu_acc_ignore_rate = 9 set imu_acc_ignore_slope = 5 set applied_defaults = 3 set gps_sbas_mode = AUTO set airmode_type = STICK_CENTER_ONCE set nav_wp_radius = 5000 set nav_rth_allow_landing = FS_ONLY set nav_rth_alt_mode = FIXED set nav_rth_altitude = 9000 set nav_fw_bank_angle = 45 set nav_fw_control_smoothness = 3 set i2c_speed = 800KHZ

profile

profile 1

set rc_expo = 30 set rc_yaw_expo = 30 set roll_rate = 18 set pitch_rate = 9 set yaw_rate = 3

battery_profile

battery_profile 1

set vbat_min_cell_voltage = 300 set throttle_idle = 5.000 set nav_fw_min_thr = 1100 set nav_fw_max_thr = 1900

end the command batch

batch end

`

[evildronepilot]

Any DVR or blackbox logs?

Hi. Nop but... I was investigating the hardware while rebuilding the plane and I found that the GPS is not working. The wing was in the cruise mode when it happened so the question is...

Can the GPS malfunction while in cruise mode cause the FC system to freeze?

[papage]

I don't know if this really worths anything, but today i was testing my 7" LR with inav (4.1) and while the drone was sitting disarmed on the ground, it froze. The OSD stopped updating (thats how i realized that it froze) and it was not responding to ANY command. I had to reboot it, in order to get it back. Sorry no logs or anything.

[RoadyFPV]

maybe a kind of that problem? https://github.com/iNavFlight/inav/issues/7672

not only JETI EX BUS?

[evildronepilot]

maybe a kind of that problem? #7672

not only JETI EX BUS?

Not sure. I can't replicate the problem with my rig

[evildronepilot]

After the investigation I narrowed down the possible reasons for the crash.

1. GPS failed mid flight what destabilised the fc and lead to the lock.
2. DJI vist running off the 9v regulator on 1000mw polling 1.6/1.8amp overhead the 9v Regulator and locked the FC

I can't verify what would be the INAV behaviour In those cases but I would like to belive there should be a safety feature to prevent the scenario?

Also. I have completed 2 flight with new GPS and with vista on 12v.... no problems

[MrD-RC]

How can the firmware protect from hardware issues? The DJI stuff, iNav could never deal with. That is down to the builder of the system.

I have pulled the GPS before, and the firmware knows that the state has changed, and updates the OSD accordingly. I don’t know what happens if in a navigation mode. Maybe that could be investigated. It should just drop down to the next most logical mode, probably Angle in a navigation scenario. I would imagine if it falls through, its to Acro.

[DzikuVx]

@evildronepilot please test on this version inav_5.0.0_MATEKF405SE.zip

[Ben-Stevenss]

If it looked like this i have the same problem.

https://youtube.com/shorts/PnNs6VeDLac?feature=share

Only i have it every 2 or 3 flights, and it can happen after 10 min.

[evildronepilot]

If it looked like this i have the same problem.

https://youtube.com/shorts/PnNs6VeDLac?feature=share

Only i have it every 2 or 3 flights, and it can happen after 10 min.

Can't see the sticks but... yeah, exactly this situation.

[Ben-Stevenss]

Found a solution yet?

[evildronepilot]

Hi @Ben-Stevenss, Did you inspect the hardware after the crash? I am interested to see if the GPS was not the point of failure in your case. During my fight plane dropped the same way as yours while being in the NAV - Cruise (GPS Dependent) And after the inspection of the hardware, I found the GPS was in fact not working... I couldn't figure out if this was in-flight GPS failure or if it broke from the impact doe. Anyway, If yours is also not working this might explain the issue.... as the plain would commit suicide due a to missing / broken sensor and it would just Failsafe / DROP without the GPS I suppose.

@DzikuVx, What would be the behaviour of the system if GPS fails midflight AND in one of the GPS-dependent flight modes?

The second option I was considering as the reason was the DJI Air-Unit running at the high power output and being powered from 9v which might have caused the voltage regulator on the Matek F405 Wing to overheat and shut down. This is probably not the case however as I had a video all the way to the ground.

[Ben-Stevenss]

My problem was the air unit, switched to 12v and al problems are gone.