Can't disable EKF3, can't arm without compass

Development Team
,
1

Hi everyone. A friend and I are using arduplane 4.1.0 dev in order to use the DJI FPV system OSD. I have a matek f405 and he is using omnibusf4pro. The issue is neither of us have a compass on our planes, and we cannot deselect EKF3, and EKF3 will not arm without compass even with COMPASS_ENABLE = 0. I have tried turning AHRS_EKF_TYPE = 0 and EK3_ENABLE = 0 then rebooting, anytime I enable EKF and reboot it just resorts back to EK3. . Tried EKF type to 2 and EK3_ENABLE=0, still not working. I have ARMING_CHECK set to 1018 (no compass required)

Any ideas? Currently can’t arm and fly at all.

2

Specifically it looks like the INS parameter in the arming checks does this. I can disable all and it will arm, currently at 426 for the bitmask and it will arm without INS

3

EKF3 is the only option with 4.1.0-dev and 1Mb boards. Good time to move to H7 boards.

COMPASS_USE?

4

Also set to 0. Really not interested in ripping my FC out of several planes for this… I’ll probably run in the danger zone with reduced arming checks.

5

This is currently a known problem - we are (hopefully) working on a fix

6

If I try to fly without the arming checks or compass is the EKF3 even going to be able to do autonomous modes like RTL?

7

So there is fix that was merged yesterday that will make this a little better - when did you last sync?

8

I uploaded today’s build and now I can’t arm with arming_check at 1018 but I just get the message “AHRS Not healthy”. velocity_horiz is red with a value of “Off” and pos_horiz_abs is red with a value of “Off”.

EDIT: I disabled airspeed check (arming_check now 506) and it will arm. So INS checks are now passing.