I am trying to use Night-Ghost’s fork with the new HAL that supports this all in one board. Everything works well on the bench except for one thing. I get consistent bad AHRS if I use the EKF.
-I have recal’d ACCs many times
-Made sure the board is absolutely still during power up for gyro cal
-GPS has 15 sats and HDOP of 0.8
- does the fact that this board have only one ACC affect this even though Pixhawk level code is being used?
- what is the impact of ignoring the warning and flying since everything on the ground seems 100% functional?
- Should I disable EKF and fly ? I am not looking for precision in navigation (like pre 3.4 days)
- Is there a param I can change to make it more tolerant? (If I change to EKF3 the warning goes away, but arming is still prevented with a “AHRS and GPS are different x meters” message…