I didn’t see any magnetic interference issues in the logs, I also did an auto analysis just in case and I don’t see anything too crazy. Alright so I tried what you mentioned @ekrell1 and I actually already had the FS_EKF_THRESH = 1. I tried the INS_GYR_CAL and even set EKF_GYRO_P_NSE = 0.1
The only EKF status that is off (red) is occasionally the velocity_horiz and the pos_horiz_abs.
In the logs the errors I see are EKFCHECK-2 and EKFINAV-1.
Log File C:\Users\Zach\AppData\Local\Temp\tmp9C7.tmp.log
Size (kb) 18513.455078125
No of lines 247812
Firmware Version V4.0.0
Firmware Hash 0e52bafa
Free Mem 0
Skipped Lines 0
Test: Autotune = NA -
Test: Brownout = UNKNOWN - No CTUN log data
Test: Compass = GOOD - mag_field interference within limits (13.81%)
Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = GOOD -
Test: GPS = GOOD -
Test: IMU Mismatch = NA -
Test: Motor Balance = NA -
Test: NaNs = FAIL - Found NaN in STER.LatAcc
Found NaN in POS.RelOriginAlt
Found NaN in THR.Speed
Test: OpticalFlow = FAIL - ‘FLOW_FXSCALER’ not found
Test: Parameters = GOOD -
Test: PM = NA -
Test: Pitch/Roll = NA -
Test: Thrust = NA -
Test: VCC = UNKNOWN - No CURR log data
Another update - I restarted from scratch with the firmware. When I try to do ‘Onboard Mag Calculation’ nothing happens when I spin around to calibrate as usual. Maybe something internally on my board isn’t working and is the source of the issues.
Alright its fixed now finally… although now we seem to have two problems.
it disarms whenever there is a large jerk or I let off on the thrust
When the drone is in servo1 = ground steering 26 and servo3 = thrust 72 it works fine in manual mode. I then put it into auto mode with a mission to test and it doesn’t go so well. It goes the completely wrong direction.
Thus I figured it need differential thrust anyway bc that’s what its designed for. (two Bluerobotics thrusters) We put it into thrustright 73 and thrustleft 74 and the stick controls become off by around 90 degrees. ie. whenever I move the stick to the right it goes forward. Whenever I move the stick forward it spins in a circle. I presume these are tuning issues with the PID? I tried messing with the PI and FF but it didn’t seem to change much.