Aircraft Rolling Loop Issue on iNav 7.1.2 Across Multiple Modes

[ivolanski]

I’m posting to share an issue I recently encountered with iNav 7.1.2, hoping someone might help me understand what went wrong. My aircraft has flown around 500km in total and has always worked great. However, during the last flight, it became uncontrollable, forcing me to perform an emergency landing.

Here’s a detailed description of what happened:

The aircraft started bouncing right and left, rolling approximately 40 degrees to one side and then to the other, repeating this behavior in a continuous loop. This issue persisted across multiple modes, including angle, cruise, return to home, and loitering. Interestingly, the behavior was less frequent when switching to acro mode.

A few key details to note:

No settings were changed since the previous flights, which were flawless.
I accidentally pressed the autotune switch before takeoff, which may be relevant.
In angle mode, I noticed that the ailerons made large movements even for small bank angles.
I’m unsure whether this issue could be related to a flight controller hardware problem, an iNav system bug, or something else. If anyone has experienced something similar or has suggestions, I’d greatly appreciate your input.

Thank you in advance for any insights!

Best regards.

############# UPDATE ##################
I just reset the PID and now the ailerons are moving much less than before. Do you think it should be safe to try to fly again?
I also uploaded a video where you can see the OSD during this flight; it is at: https://youtu.be/ip5APc-9vck

DIFF ALL

diff all

version

INAV/MATEKF405TE_SD 7.1.2 May 31 2024 / 23:46:16 (4e1e59e)

GCC-10.3.1 20210824 (release)

start the command batch

batch start

reset configuration to default settings

defaults noreboot

resources

Timer overrides

Outputs [servo]

servo 1 1000 2000 1385 100
servo 2 1000 2000 1500 -100
servo 3 1000 2000 1500 -100
servo 4 1000 2000 1500 -100
servo 5 1000 2000 1580 100

safehome

Fixed Wing Approach

features

feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_AUTOTRIM

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
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y

Receiver: Channel map

Ports

serial 2 2 115200 115200 0 115200
serial 3 33554432 115200 115200 0 115200

LEDs

LED color

LED mode_color

Modes [aux]

aux 0 0 0 1300 2100
aux 1 1 1 1300 1700
aux 2 12 1 1700 2100
aux 3 53 2 1300 1700
aux 4 11 2 1700 2100
aux 5 10 3 1300 2100
aux 6 21 4 1300 2100
aux 7 36 5 1300 2100
aux 8 42 6 1300 1700
aux 9 43 6 1700 2100
aux 10 13 5 1700 2100
aux 11 60 5 900 1300

Adjustments [adjrange]

Receiver rxrange

temp_sensor

Mission Control Waypoints [wp]

#wp 0 invalid

OSD [osd_layout]

osd_layout 0 0 14 0 V
osd_layout 0 1 0 0 H
osd_layout 0 3 0 0 H
osd_layout 0 6 0 0 H
osd_layout 0 7 0 0 H
osd_layout 0 9 10 19 V
osd_layout 0 11 0 0 H
osd_layout 0 12 0 0 H
osd_layout 0 14 0 0 H
osd_layout 0 15 41 9 V
osd_layout 0 20 0 0 H
osd_layout 0 21 0 0 H
osd_layout 0 22 25 1 V
osd_layout 0 23 23 0 V
osd_layout 0 27 7 9 V
osd_layout 0 28 0 0 H
osd_layout 0 29 0 0 H
osd_layout 0 30 0 0 H
osd_layout 0 32 24 19 V
osd_layout 0 35 0 0 H
osd_layout 0 37 0 0 H
osd_layout 0 38 0 0 H
osd_layout 0 40 0 0 H
osd_layout 0 46 40 19 V
osd_layout 0 48 0 0 H
osd_layout 0 54 0 0 H
osd_layout 0 85 8 19 H
osd_layout 0 109 0 0 H
osd_layout 0 110 35 0 V
osd_layout 0 112 0 0 H
osd_layout 0 130 0 0 H
osd_layout 0 145 3 0 H
osd_layout 1 0 13 0 V
osd_layout 1 3 8 6 V
osd_layout 1 6 3 1 V
osd_layout 1 7 20 18 V
osd_layout 1 9 13 11 V
osd_layout 1 11 14 12 V
osd_layout 1 12 29 19 V
osd_layout 1 14 43 2 V
osd_layout 1 15 34 10 V
osd_layout 1 20 43 1 V
osd_layout 1 21 43 0 V
osd_layout 1 22 26 1 V
osd_layout 1 23 24 0 V
osd_layout 1 27 13 9 V
osd_layout 1 29 44 3 H
osd_layout 1 30 9 17 V
osd_layout 1 32 20 19 V
osd_layout 1 35 12 19 V
osd_layout 1 37 6 5 H
osd_layout 1 38 6 3 H
osd_layout 1 40 3 2 V
osd_layout 1 46 43 3 V
osd_layout 1 48 6 6 H
osd_layout 1 54 6 4 H
osd_layout 1 85 14 10 V
osd_layout 1 109 17 0 V
osd_layout 1 110 31 0 V
osd_layout 1 112 7 0 V
osd_layout 1 128 37 0 V
osd_layout 1 130 6 16 H
osd_layout 1 145 3 3 V
osd_layout 2 32 38 19 V

Programming: logic

Programming: global variables

Programming: PID controllers

OSD: custom elements

master

set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = 4
set gyro_zero_z = 3
set ins_gravity_cmss = 984.529
set acc_hardware = ICM42605
set acczero_x = -4
set acczero_y = -5
set acczero_z = 19
set accgain_x = 4090
set accgain_y = 4097
set accgain_z = 4103
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = SPL06
set pitot_hardware = MS4525
set motor_pwm_protocol = DSHOT150
set failsafe_delay = 0
set failsafe_procedure = RTH
set align_board_yaw = 1800
set small_angle = 180
set applied_defaults = 3
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set gps_ublox_use_beidou = ON
set airmode_type = STICK_CENTER_ONCE
set nav_disarm_on_landing = OFF
set nav_wp_radius = 800
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = NEVER
set nav_rth_altitude = 8000
set nav_rth_home_altitude = 4000
set nav_rth_trackback_distance = 1000
set fw_loiter_direction = YAW
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_angle = 75
set nav_fw_launch_idle_motor_delay = 10000
set nav_fw_launch_motor_delay = 0
set nav_fw_launch_spinup_time = 0
set nav_fw_launch_min_time = 5000
set nav_fw_launch_timeout = 10000
set nav_fw_launch_max_altitude = 8000
set nav_fw_launch_climb_angle = 35
set osd_video_system = BFHDCOMPAT
set stats = ON
set stats_total_time = 24820
set stats_total_dist = 493106
set stats_total_energy = 212746
set tz_offset = 480

mixer_profile

mixer_profile 1

set platform_type = AIRPLANE
set model_preview_type = 26
set motorstop_on_low = ON

Mixer: motor mixer

mmix reset

mmix 0 1.000 0.000 0.000 0.300
mmix 1 1.000 0.000 0.000 -0.300

Mixer: servo mixer

smix reset

smix 0 1 1 100 0 -1
smix 1 2 0 100 0 -1
smix 2 3 0 100 0 -1
smix 3 4 2 100 0 -1
smix 4 5 18 100 0 -1

mixer_profile

mixer_profile 2

Mixer: motor mixer

Mixer: servo mixer

profile

profile 1

set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 144
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_ff_roll = 254
set fw_p_yaw = 50
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 70
set max_angle_inclination_rll = 450
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain = 0.400
set nav_fw_pos_z_p = 25
set nav_fw_pos_z_d = 8
set nav_fw_pos_xy_p = 55
set d_boost_min = 1.000
set d_boost_max = 1.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 12
set pitch_rate = 9
set yaw_rate = 3

profile

profile 2

set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 80
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_p_yaw = 50
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 255
set max_angle_inclination_rll = 450
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain = 0.400
set nav_fw_pos_z_p = 25
set nav_fw_pos_z_d = 8
set nav_fw_pos_xy_p = 55
set d_boost_min = 1.000
set d_boost_max = 1.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3

profile

profile 3

set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 80
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_p_yaw = 50
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 255
set max_angle_inclination_rll = 450
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain = 0.400
set nav_fw_pos_z_p = 25
set nav_fw_pos_z_d = 8
set nav_fw_pos_xy_p = 55
set d_boost_min = 1.000
set d_boost_max = 1.000
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 throttle_idle = 5.000
set nav_fw_max_thr = 1900
set nav_fw_launch_thr = 1800
set nav_fw_launch_idle_thr = 1200

battery_profile

battery_profile 2

set throttle_idle = 5.000

battery_profile

battery_profile 3

set throttle_idle = 5.000

restore original profile selection

mixer_profile 1
profile 1
battery_profile 1

save configuration

save