Hi All,
I experienced a RTH malfunction while inspecting a roof recently which ended in having a P3P stuck 125ft up a tree.
Luckily the tree was climbed safely and the drone was undamaged, but I need help understanding the cause of the crash.
Flight Log: http://www.phantomhelp.com/LogViewer/4Y9F1RH0Z9340G1RL6QJ/
I had recognized the tree next to the structure as a potential hazard and to mitigate that risk I manually set the RTH Altitude at the start of the flight to well above the structure so that I could regain control and cancel RTH without the drone moving laterally.
The incident starts at 10m41.5s with a Downlink Restored message.
Immediately RTH begins Heading Alignment and seconds later (10m50.1s) starts RTH Cruise towards the home point
Around 10m54s it becomes clear to me on the ground that the drone is moving laterally and not ascending as programmed so I pull up and back hard from the tree, gaining a few feet of altitude and reducing speed from 20mph to 3mph.
At 10m56s the drone gently introduces itself to the tree.
According to the log, the heading alignment started the exact moment downlink was restored.
The log shows no mention of any attempt to ascend.
My main questions is this:
Why did the drone initiate the RTH Heading Alignment and RTH Cruise before ascending to the RTH Altitude?
Thank you for any insight, comments, or suggestions you might have. |