EKF lane switch, EKF primary change during every flight

ArduCopter Copter 4.3
1

Dear all,

I’m flying an H8 with Tmotors and escs and a cube pilot. I have followed the setup and tuning steps from the wiki, tried to minimize any source of vibration, and successfully Autotuned the copter.

However, I am experiencing an EKF lane switch and EKF primary change almost every time I speed up over 16m/s without changing altitude. Initially, I noticed that BARO converges to CTUN.Alt so I thought this might have triggered the EKF change but this convergence happens on more occasions without problems.

I have also surrounded the autopilot with foam without a noticeable effect on the barometer.

Here is a recent log to have a look at. (The date is correct on the autopilot but when I download the log file it changes to 1980s. I guess that is a topic for another discussion.)

I would really appreciate your feedback on what causes the EKF lane switch and EKF primary change.

2

You have very high vibration levels with clipping which cause the EKF lane switches. You’ll need to fix these vibrations.

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1 Like
3

Thanks for your quick reply, I was just plotting VIBE[0] and VIBE[1] and I totally missed the clipping that showed up only on VIBE[2]. I will try to minimize these vibrations!

4

Have you done all the initial setup and the notch filter?

You can also send a picture of the aircraft and maybe someone can help with trying to reduce vibrations!