Quadcopter, flying compass-less but with GPS, there’s a single valid IMU on the aircraft.
Since we want to enable PosHold, we opted to use GSF.
We’re aware that the heading needs to be ‘learned’ - either by flight or by walking with the drone on the ground before takeoff.
Strange thing - we took off, and rather quickly after that it felt like the controls of the aircraft switched between roll\pitch. We quickly landed the aircraft with minimal damage.
Looking at the logs - there’s a obvious “EKF3 IMU0 yaw aligned using GPS” and “EKF_YAW_RESET” message right before this happened.
Is it possible that the GSF alignment is at fault - and it actually re-aligned the IMU to the aircraft frame?
Or there’s something else going on here?
Recent question I had, same drone: