EKF Yaw Reset Crash

ArduCopter
1

Hello!

I’m using Copter 4.3.3 and I’m having an issue where the hexacopter will crash following a EKF_YAW_RESET warning. This warning will occur several times in a short span (a few seconds), and each time it does, the copter will dramatically change directions.

I suspect it’s a compass issue caused by interference from the battery, but I’m not sure. Somebody recommended I recalibrate the compass, and this fixed the issue for a single flight, but it crashed again shortly after.

Can anybody help me diagnose the problem/find a fix? Here’s a link to the crash log: 2023-09-19 14-26-50.bin - Google Drive

Thanks in advance!

2

Looking at the magnetometer readings, it seems that there is a significant amount of magnetic interference on both the internal and external compass. I’ve heard that this may cause issues with the GPS. How can I troubleshoot this?

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3

Disable the internal compass and use MAGFIT to calibrate the external.