> For the complete documentation index, see [llms.txt](https://docs.freeflysystems.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.freeflysystems.com/products/products/alta-x/untitled-4/troubleshooting.md).

# Troubleshooting

## Troubleshooting Tree

<table><thead><tr><th width="242">Symptom</th><th width="222">Possible Causes</th><th>Action</th></tr></thead><tbody><tr><td>Blue boom LED and loud motor beeping</td><td>Parameter structure is corrupted</td><td>See <a data-mention href="#parameter-corruption-reset-issue">#parameter-corruption-reset-issue</a></td></tr><tr><td>QGC has a lot of red tabs. Aircraft profile seems to be deleted.</td><td>Parameter structure is corrupted</td><td>See <a data-mention href="#parameter-corruption-reset-issue">#parameter-corruption-reset-issue</a></td></tr><tr><td>Preflight Fail: High Accelerometer Bias</td><td>If you fly around with no issues, and then land and then get this error, then its most likely a bug in PX4 Software.</td><td>Reboot/power cycle the aircraft</td></tr><tr><td></td><td>If you get this error with a fresh boot before taking off and doing accelerometer calibration does not make the issue go away, then its most likely that the temp cal of the aircraft is not present</td><td>See <a data-mention href="/pages/wiihQnWSbVEKkkZW5LLA">/pages/wiihQnWSbVEKkkZW5LLA</a></td></tr><tr><td>Abrupt motions in autonomous missions, causing problem in capturing Lidar data</td><td>Lack of smooth mission execution in flight controller</td><td>See <a data-mention href="#abrupt-motions-in-autonomous-missions">#abrupt-motions-in-autonomous-missions</a></td></tr></tbody></table>

***

## Parameter Corruption/Reset Issue

* What is it? — There is a hardware defect combined with a PX4 bug that applies to all blue and black cube flight controllers where a very specific set of power conditions can occur within the memory chip of the flight controller, causing it to become corrupted. When this happens, the parameters become reset.
* How to prevent? — Make sure that the unit never gets a quick power on/off, but whenever you connect the unit to USB power, etc, to always allow sufficient time for it to boot. Then if you power it off, wait 10-30 seconds before re-starting to avoid the issue.&#x20;
* **How to fix? Follow** [Alta X Recovery Instructions](/products/products/alta-x/untitled-4/troubleshooting/alta-x-recovery-instructions.md) **to reset back to default firmware and parameter profiles.**&#x20;

***

## Abrupt Motions in Autonomous Missions

* Issue: The PX4 version that is used with the Alta X does not have smooth motion planning for autonomous missions. This can lead to sudden jerky movements that make capturing data with Lidars very challenging.
* Solution: Actual solution to this requires a major upgrade for the PX4 firmware for Alta X. This has been in our roadmap and we are still working on it.
* **Workaround**:&#x20;
  * Survey missions in QGC creates waypoints that have sharp turns. Combined with the lack of smoothing at motion execution of the flight controller, it creates abrupt motions.&#x20;
  * Potential workaround for this issue is to manually create waypoint missions with some segments to create curves. See the image below. You can test the following with your setup:
    * Create a waypoint mission that has straight segments, 90 degree turns, and then another straight segment, like a normal survey, pic attached. Make sure the short segments are at least 20m apart.
    * Set the MIS\_YAW\_ERR parameter to 90, and setting NAV\_ACC\_RAD to 3. You can increase NAV\_ACC\_RAD to see how it affects the flight behavior.
    * ! As always take extreme caution when adjusting parameter settings. !

<img src="/files/NvMhu7xToZQmmnH0KExC" alt="" data-size="original">

***

<br>


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