Bad Gyro Health in new copter with Pixahwk 2.1

Hardware Pixhawk 2
1

Hi
I am building new copter based on pixhawk 2.1 and here+ gps. It will be quite big octo but for now it’s quad with 15" propellers. I have mission planner 1.3.52 and copter firmware 3.5.5. When I am connected to mission planner from time to time I get message “bed gyro health”. It happening almost every time when copter is just laying on the desk and nothing is happening with it. I did accel, level calibration and compass calibration. This info showing only for 1-2 seconds and disappears. I had one test fly and copter was quite steady. I don’t know where to search in log for problems with gyro which parameters I should observe ? For example gyrosq1 is 5 gyrosq3 is 5 but gyrosq2 sometimes is 50. I am quite worried that it’s hardware issue ? How can I check that ? I flashed firmware and did whole procedure of new settings two times and problem still exist :frowning: Anyone any idea what is wrong ?
During this logs I get message bed gyro health:
http://fotostacja.pl/2018-03-17%2017-34-44.bin
http://fotostacja.pl/2018-03-17%2017-38-13.bin

2

Info on video:


high gyrosq2

bad gyro health:


3

I get these randomly on the bench but not in the air, I think sometimes circuits in the house cause it.

Take it to an open field and see if it still does it

4

So is that normal that you get such info from time to time ?
On open field I also get it on the ground. Until now I was flying for 3-4 minutes because I am afraid that something is wrong with hardware.

5

Is there anyone who knows what this error message means ? I didn’t found any info :frowning: As I understand it’s only connected with IMU with gyros ? or also with compass ?

6

Hi Is there anyone who knows what “bad gyro health” means ?
No any info anywhere !!
No any help, no any support ??

7

The gyro health is set/updated inside the AP_InertialSensor class. Perhaps look there to determine what it means?

1 Like
8

I get info from hex.aero that this message is not critical and I can fly safely.

9

Profi cnc in that thread wrote:
"Bad Gyro is a useful message, but it’s a little lacking in what it means.
The initial Gyro calibration happens straight after poweron, before the system warms up…
So try powering on, letting it warm up a bit, then repowering"
https://discuss.ardupilot.org/t/pixhawk-2-1-gyro-and-compass-problem/12936