We perform compass calibration, than compass_mot. Full restart of everything and put the drone in flight.
For few flight in the morning everything is perfect. EKF compass magnitude is always very low, even in extreme maneuvers I can’t see more than 0.5 ( green bar)
In the afternoon, I took off, push forward ( elevator) and the drone didn’t follow a straight line, but veering on the left. Opposite maneuvers and it veering on the right.
We run AC 3.6.10 with LIS 3 compasses.
We have multiple aircraft that are exactly the same and don’t shows the same behaviour.
I can second that issue. I had same experience with different copters. They were ok after compass calibration, but after some time (sometimes days, sometimes hours) they started acting like the compass is skewed…
with copter 3.6.10 to 3.6.11 i was have compass problem with a message compass not calibrated before arm copter
i did these steps and my problem was solved :
1 - i enabled my both compass (for a sudden failure or bug) and external as primary
2 - calibrate compass when copter is faced to north
3 - not using mot compass calibration
also as i learned from community when you calibrate compass is not meaning that your compass is happy
yes @Lorenzo_Pessah your story is different but give a try maybe it help to solve your problem
also check your compass noise and check that your compass cable is far apart power module
went to test in another field (couple of miles/3km away from the other one)
Same beaviour as before. We also try couple of different procedure:
roll left and than right to “clear” compass heading error
wait in hovering for 30 sec and than fly forward
with the drone on and ready to fly ( disarmed of course) walk with it forward and backward.
Nothing of the above have solve the issue. At the moment our only solution is fly forward and backward for 20m once and than heading is correct and drone doesn’t veer. Using 2 compass requires 2-3 fly forward and backward to clean the heading error.
From map view it is clear that there is a small error ( within 20 degrees ) from the rear heading and the readed one.
Did you perform a Motor Compass calibration to begin with??, Do you have a picture of how your GPS and controller are mounted?? How long are your battery cables??