Today I did my firts flight with compass not beeing used for yaw alignment.
I set yaw source to GSF and COMPASS_USE to 0. I left COMPASS_ENABLE as 1 to get data logged and perhaps try magfit.
I took off in atl hold mode and after a very short moment got yaw reset as expected and switched to loiter. And quad behaved as expected.
What is a little strange to mee it that there are some messages about lane switching:
Is that expected?
Flight log: https://drive.google.com/file/d/1wXhxYQTtU6nu4qTYyAo9zqHynSwxx_gW/view?usp=sharing (130MB due to gyro data).
Do I need to set something for EK3 SRC 2 or 3 ?
Also. I did not test that but I would assume it will not allow me to take off in loiter mode, but is there any way to do switch alt-hold to loiter automatically as soon as Yaw reset is performed?