​Root Cause:

​Abnormal Navigation Speed Measurement: The system detects an anomaly when the error between measured speed and fused speed exceeds a threshold. If the vertical velocity prediction value from the EKF differs from the observed value by more than a threshold for ​3 consecutive seconds, a navigation speed measurement anomaly is flagged.

Troubleshooting Steps:

​Post-landing Inspection:

• Check for loose arms, folded clamps, or damaged propellers.
• Verify secure installation of the flight controller case and positioning module.
• ​If issues persist, replace the flight controller.