EKF Alarms and Toilet Bowl Yaw on Takeoff

ArduCopter Copter 4.1
1

All
Here is analysis window from last flight.
Is fine at startup, all alerts and fail safes clear. When a few meters off the ground it starts toilet bowl yaw and goes through some EKF lane changes. I seems to settle on a lane and flight can resume as normal. Yaw event is SCARY!
I have posted the Auto Analysis below and the logs for the last couple flights are in:

Logs Link

Please help.

Log File C:\Users\kowpa\Documents\Mission Planner\logs\HEXAROTOR\1\2023-09-07 10-01-00.log
Size (kb) 21500.7333984375
No of lines 240562
Duration 0:22:52
Vehicletype ArduCopter
Firmware Version V4.1.3
Firmware Hash 2fb939a1
Hardware Type
Free Mem 0
Skipped Lines 0
Test: Autotune = UNKNOWN - No ATUN log data
Test: Brownout = GOOD -
Test: Compass = FAIL - Large change in mag_field (5461.32%)
Max mag field length (27211.99) > recommended (550.00)

Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = FAIL - ERRs found: GCS FS_THR
Test: GPS = GOOD -
Test: IMU Mismatch = NA -
Test: Motor Balance = UNKNOWN - ‘HEXA/X’
Test: NaNs = FAIL - Found NaN in CTUN.DSAlt
Test: OpticalFlow = FAIL - ‘FLOW_FXSCALER’ not found
Test: Parameters = FAIL - ‘MAG_ENABLE’ not found
Test: PM = GOOD -
Test: Pitch/Roll = GOOD -
Test: Thrust = GOOD -
Test: VCC = UNKNOWN - No CURR log data

2

Update to ArduCopter 4.4.0 or 4.4.1-beta 2 and use the ArduPilot Hardware Checker instead of the now outdated “Auto analysis”.

It will probably reveal that your vibe levels are too high.

3

amilcarlucas
Thanks for the response. Do you have to save all your copter settings before you upgrade or are they all conserved?
Sorry, I had a support guy helping me with the last one.
Please let me know if you have any guidance.
m

4

Save the parameters to a file in case you need to downgrade firmware later. That file can only be used by the old firmware version. Mark it as such!

After that just do the firmware update it will preserve settings and if necessary automatically update them.

5

Do you run the hardware checker before you fly? Is it a ground test? Or does it need a flight log to analyze?