rmackay : Jan 13
Thanks for the report on the “DCM Yaw inconsistent” pre-arm message. I think this was added to Copter-4.0 as an additional safety check of the attitude before takeoff but I’ll bring it up at our weekly dev call tomorrow and consider removing it. Copter never falls back to DCM so it might be OK to remove it especially if we are finding there are more false positives rather than real issues.
By the way “DCM” stands for “Direct Cosign Matrix” and it is attitude estimation system that pre-dates the EKF (mentioned on the wiki here )