EKF_YAW_RESET and EKF_PRIMARY - 1 / 0 during the flight

ArduCopter Copter 4.1
1

Hi everyone.

I’m using a HERE3 + BlackCube (with mini carrier board) + 4.1.0.

So did some real flights, auto, and i’m getting EKF_YAW_RESET and EKF_PRIMARY - 1 / 0 during the flight.

The flight was ok, altitude was unstable the rest looks good.

IVN,IVE,IVD values:

MissionPlanner_NzqBhwyxte
MissionPlanner_NzqBhwyxte2419×704 27.5 KB

IPD values:

MissionPlanner_09rhcdZJwh
MissionPlanner_09rhcdZJwh2439×699 20.1 KB

Log: https://drive.google.com/file/d/1wRkeCX6rEcJUjMpGGGAMS3w9DSprJobR/view?usp=sharing

Both XKF3.IPD (Barometer) and XKF3.IVD (Altitude) are too high, right?

Any idea what could be? Any fix for this?

(Already done alot of calibrations)

Thank you

2

Actually, altitude was also OK, I can see some peaks only when EKF_YAW_RESET occurred.
Power lines close to the magnetometer may cause electromagnetic interference that affects the magnetometer measurements.
Make sure that the GPS module is far away from the power lines (as far as possible from the propulsion system wires).

3

Thanks for the reply.

Well the GPS module is far from the FC and Power Modules.

Anyway shouldn’t the IVD and IPD values be more stable to the 0?