{"action":"created","issue":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5638","repository_url":"https://api.github.com/repos/ArduPilot/ardupilot","labels_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5638/labels{/name}","comments_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5638/comments","events_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5638/events","html_url":"https://github.com/ArduPilot/ardupilot/issues/5638","id":203661620,"number":5638,"title":"SF11/C issues","user":{"login":"roque-canales","id":8442576,"avatar_url":"https://avatars.githubusercontent.com/u/8442576?v=3","gravatar_id":"","url":"https://api.github.com/users/roque-canales","html_url":"https://github.com/roque-canales","followers_url":"https://api.github.com/users/roque-canales/followers","following_url":"https://api.github.com/users/roque-canales/following{/other_user}","gists_url":"https://api.github.com/users/roque-canales/gists{/gist_id}","starred_url":"https://api.github.com/users/roque-canales/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/roque-canales/subscriptions","organizations_url":"https://api.github.com/users/roque-canales/orgs","repos_url":"https://api.github.com/users/roque-canales/repos","events_url":"https://api.github.com/users/roque-canales/events{/privacy}","received_events_url":"https://api.github.com/users/roque-canales/received_events","type":"User","site_admin":false},"labels":[{"id":24269224,"url":"https://api.github.com/repos/ArduPilot/ardupilot/labels/Copter","name":"Copter","color":"02e10c","default":false}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":8,"created_at":"2017-01-27T15:22:02Z","updated_at":"2017-02-12T21:19:36Z","closed_at":null,"body":"\r\n![alt-offset issue](https://cloud.githubusercontent.com/assets/8442576/22379607/37d933e8-e4ba-11e6-8f53-d5fc538118c9.jpg)\r\nHello, Attached you will find *.bin regarding issue.\r\n\r\nSF11/C is connected to serial port to drone but not used during this flight.\r\nAfter auto-mission using barometer, I switched to RTL.\r\nWhen drone come vertical point of takeoff point, it started descend à 200cm/s as tuned.\r\nBUT it landed at this speed.\r\nIt not slowed to 50cm/s for final toutch-down as tuned.\r\n\r\nHopefully, I dont break anything.\r\n\r\nRegarding log we can see SF11/C glitch from AGL alt to 0.....\r\nI think that even if we don't use SF11/C, but if it's connected, AC3.4.4 set the offset with baro home alt following SF11/C measurements.\r\n\r\nAnd.. in this case SF11/C sending bad alt data, AC3.4.4 continue using last offset home alt.\r\n\r\nFor the next release it would be great that EKF dont use offset to home alt if SF11/C is sending bad data.\r\n\r\nAlso, I think that issue for bad measurement are linked with bad serial driver for SF11/C....\r\nI tell that because, SF11/C work very well when connected directly to laptop, it never fail....\r\nWhen connected to ac3.4.4, it make spikes, and seems to be unstable.\r\nhttps://guides.github.com/features/mastering-markdown/\r\n[2017-01-27 13-01-23.zip](https://github.com/ArduPilot/ardupilot/files/735558/2017-01-27.13-01-23.zip)\r\n\r\n\r\n\r\n\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/comments/279250025","html_url":"https://github.com/ArduPilot/ardupilot/issues/5638#issuecomment-279250025","issue_url":"https://api.github.com/repos/ArduPilot/ardupilot/issues/5638","id":279250025,"user":{"login":"Juzzle1","id":13833190,"avatar_url":"https://avatars.githubusercontent.com/u/13833190?v=3","gravatar_id":"","url":"https://api.github.com/users/Juzzle1","html_url":"https://github.com/Juzzle1","followers_url":"https://api.github.com/users/Juzzle1/followers","following_url":"https://api.github.com/users/Juzzle1/following{/other_user}","gists_url":"https://api.github.com/users/Juzzle1/gists{/gist_id}","starred_url":"https://api.github.com/users/Juzzle1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Juzzle1/subscriptions","organizations_url":"https://api.github.com/users/Juzzle1/orgs","repos_url":"https://api.github.com/users/Juzzle1/repos","events_url":"https://api.github.com/users/Juzzle1/events{/privacy}","received_events_url":"https://api.github.com/users/Juzzle1/received_events","type":"User","site_admin":false},"created_at":"2017-02-12T21:19:36Z","updated_at":"2017-02-12T21:19:36Z","body":"Looking at the logs, it seems the problem occurs much earlier in flight - the LIDAR altitude does not correlate with baro / GPS altitude even on the initial climb and seems to top out at around 50m even though both GPS and baro indicate the copter is still climbing. \r\n\r\nTowards the end of the flight, when the 'glitches' occur, you can see the  SALT gradually increase between the glitches until it tracks the GPS and baro for the final descent. \r\n\r\nPerhaps a faulty SF11/C? \r\n\r\nProbably best if one of the devs could take a look at this.\r\n\r\n![image](https://cloud.githubusercontent.com/assets/13833190/22866083/153131dc-f168-11e6-81e6-d6fa8fc1ca3c.png)\r\n"}}
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