I have an Omnibus F4 Nano v6.1 running ArduPlane V4.1.0dev (ab2e429f).
I had some issues in loading this fw on this board (see Omnibus F4 Nano v6.1 missing basic parameters), but after some help everything seemed to work fine, except for the artificial horizon sometimes going crazy.
I already flew several times with this plane: everything’s fine for 2 hours, than suddenly the horizon starts to drift, and the autopilot tries to compensate it (actually driving to a crash).
If I connect via Mission Planner, I constantly get the EKF status RED (see attached), and sometimes after a while I do see the horizon going crazy while perfectly leveled on my bench.
May this be a firmware / setting related issue, or this is just a faulty IMU?
Thank you anyone willing to help. Attached a screenshot, and my setup file (which actually flies very fine on a first unit of the very same plane).
2021-08-27 Drift Max.param (18.8 KB)