EKF Lane Switch - problem with yaw

[Gabor_Csontos (Gábor Csontos)]

I don’t know if there is any connection with it, but here is our experience and a few related threads.

EKF3 switching to DCM and back

We had a strange behaviour a few days before. We run ArduPlane 4.1.0 this time. In the setup time, while on the ground, disarmed we got orientation changes and velocity error messages. We did not risk it to fly. Our surroundings: -Arduplane 4.1.0 -Pixhawk cube black -EKF3 enabled -Moving baseline configuration for orientation using 2 F9P modules (Drotek Sirius and Drotek DP0601) -Compasses turned off becasue above reason -Good GPS reception on both modules The plane was disarmed so we g…