Vibration failsafe: height is being held in a cruder way (ERR FAILSAFE_VIBE)

What ArduPilot says:

• ERR FAILSAFE_VIBE (Subsys 29)

Code 1: for 1 s the EKF's vertical velocity and position corrections were both positive with the velocity variance above 1.0, or the EKF itself reported bad accelerometer data. That is the mark of vibration making the copter believe it is sinking, so that it climbs. The altitude controller stops using the measured vertical acceleration: height is held less precisely, but the climb stops (“Vibration compensation ON”). Code 0: no bad vibration for 15 s, normal control is back. It acts only in modes that hold height, with FS_VIBE_ENABLE at 1. Land soon and find the vibration.

What to do, most likely first

1. A propeller is damaged or out of balance, or a motor's bearings are worn.

   CheckVIBE.VibeX, VibeY or VibeZ in the log above 30 m/s², or VIBE.Clip counting up.

   FixReplace chipped or bent props, balance the rest, and replace a motor that feels rough when turned by hand.

2. The flight controller is mounted too rigidly, or too loosely, or a wire or the frame touches it.

   CheckVibration is high on every axis at every throttle, not only at one speed.

   FixMount it on its dampers as the maker intends, with slack in every cable and nothing pressing on it.

3. A loose arm, motor mount or battery lets the frame resonate at some throttle.

   CheckVibration peaks in a narrow throttle band; grip each arm and try to twist it.

   FixTighten every screw of the frame and strap the battery so that it cannot move.

Parameters to look at

Where to do it:Failsafe ExplainerSetup & Tuning Guide