PX4 AgriDrone · 2023-09-25

Flight telemetry summary

Distance Meters

0 m

Maximum Altitude AGL

0.7 m

Maximum Ground Speed

0.37 m/s

Minimum Battery Percent

66.3%

Minimum Battery Voltage

23.37 V

Minimum GPS Satellites

12

Maximum GPS HDOP

0.95

Flight Modes

AUTO_PRECLAND, POSCTL, AUTO_LOITER, POSCTL, AUTO_RTL, POSCTL

Maximum Distance From Home Meters

2.5 m

Maximum Distance From Home Time

1m 3s

Average Ground Speed

0 m/s

Maximum Climb Rate MPS

0.56 m/s

Maximum Descent Rate MPS

-0.44 m/s

Battery Consumed MAH

131.9 mAh

Battery Consumed Wh

3.1 Wh

Voltage Sag

0.29 V

Flight Mode Seconds

AUTO_PRECLAND: 45s, POSCTL: 17s, AUTO_LOITER: 0s, AUTO_RTL: 2s

Maximum GForce

1.29 g

EKF Healthy

Yes

Weather at the flight

Source

open-meteo-archive

Sampled At Utc

2023-09-25T17:00Z

Latitude

45.66

Longitude

9.72

Temperature C

17.2 °C

Wind Speed MPS

2.55 m/s

Wind Direction Degrees

259

Wind Direction Cardinal

W

Weather Code

0

Weather Description

Clear

AI flight report

This was a very short, essentially stationary flight: 1:03 total, with 0 m of track distance and a farthest point from home of just 2 m (reached at 1:03). Altitude stayed within about a meter of the ground the whole time, and top speed only touched 0.4 m/s, so this reads more like a ground/precision-landing test than a real sortie. Weather was mild — 17.2°C, light 2.55 m/s wind from the west, clear skies — so conditions aren't a likely factor in anything below. The flight spent most of its time in AUTO_PRECLAND (0:45) and POSCTL (0:17), with brief dips into AUTO_LOITER and AUTO_RTL near the end, before disarming at 1:02.

A few anomalies stand out. Right at the start, a barometric-vs-fused altitude disagreement of 148 m was flagged (0:00, peaking 0:13) — a large, sustained gap like that usually means one altitude source (likely the barometer, given the vehicle wasn't actually climbing) was reporting bad data rather than the drone actually being 148 m off. Seconds later, at 0:04, motor 1 hit 1922 µs, essentially maxed out, and the derived diagnostics show it touching the ceiling of 2000 µs at 0:05 — on a fixed-wing airframe sitting nearly still, a motor pinned near max with no corresponding speed or climb is worth a closer look, since it suggests the controller was fighting something (weak motor, prop imbalance, or bad CG) without much authority left to correct it. That imbalance shows up again later as a sustained asymmetry between motor 1 (2000 µs) and motor 2 (1793 µs) at 0:42, and the widest recorded motor spread (622 µs) occurs near 1:00 — right as the flight is cycling through POSCTL/LOITER/RTL mode changes in quick succession (0:52–0:56). Separately, a 46° attitude excursion was logged at 0:10, and the diagnostics show an even steeper 56° moment at 0:21, which is unusual for what otherwise looks like a hover/ground test.

Given these, two things are worth checking before the next flight rather than treating this as a normal log: first, the persistent motor 1 vs motor 2 imbalance (1922–2000 µs on motor 1 against much lower values on motor 2, recurring at 0:04, 0:42, and 1:00) should be traced to a specific cause — prop damage, CG shift, or a degraded motor/ESC — since sustained saturation like this leaves little control margin if the vehicle needed to maneuver for real. Second, the 148 m barometer/fused-altitude split at 0:00–0:13 should be reviewed against raw sensor logs; if it recurs on future flights it could feed bad altitude data into RTL or landing logic, which matters even on a test like this one where AUTO_PRECLAND was active almost the whole time. The steep attitude readings (0:10, 0:21) are also worth cross-checking against video or the raw log to confirm they're real attitude events and not an artifact of the same sensor disagreement.

Detected flight events

1. 0s — Barometric and fused altitude disagree by 148 m

   Barometric and fused altitude disagree by 148 m

2. 5s — Motor 1 at 1922 µs — near maximum output, little authority left

   Motor 1 at 1922 µs — near maximum output, little authority left

3. 10s — Steep attitude: 46° from level

   Steep attitude: 46° from level

4. 43s — Sustained motor asymmetry: motor 1 2000 µs vs motor 2 1793 µs (207 µs spread)

   Sustained motor asymmetry: motor 1 2000 µs vs motor 2 1793 µs (207 µs spread)

5. 45s — Flight mode changed to POSCTL

   Flight mode changed to POSCTL. The pilot or autopilot switched control behavior here.

6. 52s — Flight mode changed to AUTO_LOITER

   Flight mode changed to AUTO_LOITER. The pilot or autopilot switched control behavior here.

7. 52s — Flight mode changed to POSCTL

   Flight mode changed to POSCTL. The pilot or autopilot switched control behavior here.

8. 54s — Flight mode changed to AUTO_RTL

   Flight mode changed to AUTO_RTL. The pilot or autopilot switched control behavior here.

9. 56s — Flight mode changed to POSCTL

   Flight mode changed to POSCTL. The pilot or autopilot switched control behavior here.

10. 1m 2s — Vehicle disarmed

    Motors disarmed — the flight is complete.