This was the 2nd flight from the same location. Litchi mission went from AutoTakeoff to Waypoint to Atti. The only thing that changed on the csv file was the "flyStateRaw" 11, 14, 1. Anybody know what "flyStateRaw" is why and it would do that. Thanks
This looks to me like the usual launch-from-a-geomagnetically-distorted-location incident. Before launch the difference between Yaw and mgaYaw was about +11° since the Yaw value had been adjusted for the geoDeclination at the launch site. As the P3S began it's ascent it rose above the geoMagnetic distortion and Yaw-magYaw changed to -25°. That's a 46° change.
If Litchi can replay the flight I believe that it will show a -72° heading at launch but if you looked at the P3S you would have seen that it's actual heading was about -112°.
Looks like you launched from concrete which can sometimes have rebar that will cause a geomagnetic distortion.
Not, also the toilet bowling - a clear indicator of a geomagnetically distorted launch site.
I know you have launched from this site before without incident. The P3S magnetometer is in the bottom of the leg, almost touching the launching surface. And, the extent of the geomagnetic distortion can be small - 1 or 2 cm. So it's quite possible that a change of 1 or 2 cm will determine if there is an incident.
It used to be that the P3 series would switched immediately to ATTI when it sees the Yaw-magYaw separation. It seems that about a year ago the P3 FW was changed to use the same strategy used by the Mavic. I.e., the Mavcic. and now the P3, attempts to reconcile a Yaw-magYaw separation. If it can't the switch to ATTI is made.
The best, and easiest, way to prevent this type of incident is check that the Litchi map heading indicator is consistent with the actual heading. If not, then move to a better location.