Today I replaced my old black Cube with a new Blue H7 Cube (Made in USA). Used the exact same hardware (flew it just last week), just swopped out the Cubes and flashed fw 4.0.7 (the black was still running 3.6.12).
So I went out to the field to perform the compass calibration (went smooth) but as soon as I reboot after calibration I get “Compass Inconsistent” messages and I can see the yaw slowly drift more than about 100° or so. It seems to eventually stop drifting (maybe 2 minutes later) and settles on some heading which is way off. Before the reboot it seemed to be okay and stable.
- I have already done the accelerometer calibration and have a solid GPS fix when doing the compass calibration.
- Disabled the internal compass, but the effect is the same, does not matter which Compass I select.
- I tried re-calibrating about 5 times but made no difference.
This post over on CubePilot sounds almost exactly like my issue, but this guy used the PX4 firmware:
So maybe it’s a hardware issue? Or maybe some new parameter change that I am not familiar with. I saw COMPASS_AUTO_ROT which is new to me, but seems to work correct as the orientation match how the compass is installed.
Any ideas of what I can try next?