Failure Cause: Weight sensor detects an anomaly (single module reading exceeds maximum weight threshold).
Troubleshooting Method: Remove and replace the corresponding weight sensor module.

Failure Cause:
The system cannot retrieve nozzle status information due to damaged spray nozzle actuators preventing data transmission.

Troubleshooting Steps:

1. ​Inspect Actuator Interfaces:

   • Check for loose connections at the actuator interfaces.
   • Verify continuity between the actuator and main control unit (MCU).

2. ​Check Boom Wiring Harnesses:

   • Examine the forward/backward boom wiring harnesses for damage or improper connections.

3. ​Actuator Interface Validation:

   • Physically inspect all actuator interfaces at the spraying components for corrosion or wear

Failure Cause:
Potential short circuit of the flow meter port caused by burnt spray nozzle actuators. This occurs because the main control unit (MCU) internally integrates the spray module control board with the actuator port signal wiring harness.

Troubleshooting Steps:

1. ​Spray Nozzle Actuator Inspection:

   • Short circuits in left-side actuators (tail section) may affect the flow meter.
   • Remove the spray nozzle actuators from the left side of the tail section to inspect for damage.

2. ​Electrical Testing:

   • After removing damaged actuators, power on the aircraft to test.
   • Verify whether the flow meter short circuit was caused by the faulty actuator.

Failure Cause: The control system did not receive data feedback from the spray system, triggering an alarm.
Troubleshooting Steps:

1. Replug and inspect the spray wiring harness connected to the main control unit (MCU). If unresolved, replace the MCU.
2. For "No Communication" or flow meter disconnection:
   • Hover for 30 seconds. If communication is not restored, initiate return-to-home (RTH).
   • If communication recovers within 30 seconds, operations will automatically resume.

​Root Cause: Communication failure between cloud link and telemetry link (one of the links cannot establish connection).

​Troubleshooting Steps:

• ​Cloud Link Issues:
  1. Check remote controller port 4G network status.
  2. Verify drone-end 4G network connectivity.
  3. Confirm backend server availability.
• ​Telemetry Link Issues:
  1. Test 2.4GHz telemetry signal between controller and aircraft.
  2. Ensure both devices are within ​2.5km line-of-sight range.
• ​Resolution: Confirm both links are operational before proceeding.

​Root Cause：

​Obstructions and interference exist between the remote controller and aircraft. Strong signal interference on the remote controller causes signal loss.

​Troubleshooting Steps:

 Ensure no obstructions or interference affect the telemetry link between the remote controller and aircraft.

Re-initialize frequency pairing between the remote controller and aircraft.

If frequency pairing fails, verify if the video transmitter version is displayed on the remote controller.
​If not displayed, replace the remote controller and re-pair frequencies.

Root Cause:

RTCM data is transmitted to the flight controller.
After the flight controller processes and calculates the coordinates, it sends the latitude/longitude information to the main antenna.

• ​Data Transmission Path:
  1. Aircraft obtains ground RTCM data → transmits via telemetry link to flight controller → flight controller forwards to main antenna (delay may occur in this chain).
  2. Aircraft acquires network RTCM data → transmits through 4G antenna to domain controller → ​domain controller relays to co-controller → finally reaches main antenna.

​Troubleshooting Steps:

​1. For network RTK positioning:

• Check SIM card status.
• Inspect 4G antenna connectivity.

2. For ground RTK positioning:Verify network connectivity on the remote controller.

​3. For ground station positioning:

• Confirm ground station functionality.

​4. If issues persist:Replace positioning module (calibrate magnetometer).

​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.

​Root Cause: 

Excessive GPS signal discrepancy between primary and secondary antennas.

​Troubleshooting Steps:

（1）Check for obstructions or indoor environments.
​Note: Bridge underpasses are prohibited for operations (GPS signal loss may cause drone deviation and crash).

（2）Replace the positioning module.

（3）If unresolved, the flight controller's software cable may be disconnected; replace the flight controller.