EKF Position / Velocity Innovations cause EKF-Failsafe

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Recently I’ve had a quad going in and out of EKF-Failsafes. The same quad flew 5 completely normal flights on that same day.

The log shows sawtooths on EKF/Normalized GPS Innovations":

Compass & IMU looks normal.

Before diving into the EKF code to understand what’s going on - Is there a checklist to go over when seeing such jumps in the position / velocity innovations?


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No update on this post, strange