EKF3 imu1 in-flight yaw alignment

Hey guys,

Yesterday we had a strange behavior. We have upgraded one of our drone from 4.0.7 to 4.1.1 (as another is already flying this firmware without issue).
Then we made a test flight, and after EKF3 imu1 in-flight yaw alignment message the copter automatically yaw about 20°.
We did not make compass calibration, that’s the next step, but is that a must? the only difference is we use here3 on this drone…

Thank you for your help

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Please update to ArduCopter 4.1.5, there is no need to re-calibrate the compass, unless the original compass calibration was not correctly done.

My guess is that you did not do the initial configuration correctly.

thank you for your reply, I forgot to mention that this drone was flying without this strange behavior before.

Post a .bin log file from the flight you mentioned above using something like wetransfer.com


Please find the requested log.



Hi @amilcarlucas ,

Did you have time to look at the log? Did you notice anything obvious?

Best regards