I’m having a bit of a weird issue on one of two Cube Oranges. Both are running on X8 frames, with AC4.0.4. To summarize, while completely stationary on a concrete floor, roll and pitch experience significant oscillations and drifts. Unfortunately, I’m restricted from posting entire logs or parameter files, but I can post screenshots and individual parameters as needed.
Screenshot attached is from a log taken while stationary (LOG_DISARMED=1) for quite some time. Again, the aircraft is left alone on a concrete floor for the duration of this log. I have a second Orange cube, and multiple Black cubes, none of which seem to have this issue.
Recalibrating the accelerometers doesn’t seem to have any effect other than the instant reset-to-zero; the error returns afterwards. Aircraft is in stabilize mode the whole time, and indoors (i.e. no GPS fix). We have two Here3 GPS’s on CAN1, using the I2C expander as a CAN expander for an easier time with the static node setup.
Has anyone else encountered this? I couldn’t find anything online about either AHRS drift, IMU drift, or something else.
Thanks in advance!