Hello, I’m struggling for few ArduPlane versions with issue with EKF on my plane that uses no compass.
The issue is that as soon as I arm the plane, EKF is turned off and DCM is used. EKF is turned on again only when the plane is disarmed again. I’m also getting “Bad AHRS” telemetry messages during flight via ELRS&Yaapu telemetry.
I’ve tried to analyse all the Ardupilot log analysis videos I’ve found from @tridge like
https://www.youtube.com/watch?v=6RTilBIA9zY - by the way - the first issue on this video is on the plane with similiar board setup like I have - but I still have no clue what is the issue.
Only issue I’ve noticed was that MavExplorer’s graph EKF3/Innovations/Velocity Innovation NE seemed to me to be way off.
At least I’ve created custom firmware with both EKF2 and EKF3 enabled and configured the best logging I could for my last try.
My current setup is:
Plane: Phoenix 2400 v3
Board: Omnibus F4 Pro with no compass attached
FW: Arduplane 4.4
Link to 88MB flight log from my last flight: 2024-04-06 17-58-00.bin - Google Drive
Ardupilot parameters: phoenix_omnibus_4.4.4_240204_5.param (19.8 KB)
Log from custom FW build: build-log.txt (97.8 KB)
Video of first 10 min. of flight: https://youtu.be/SsK-LrO1Ipc
Can anybody pls try to analyse the issue from flight data?
Thank you!