EKF3 IMU1 MAG1 ground mag anomaly, yaw realigned

ArduCopter
1

i have built a drone using tarot sport 650, cuav x7+, h16, a8 mini gimbal,4114 320 kv motor, 15" foldable props, cuav c-rtk 9ps gps and 18000 mah 6s4p li ion battery.
initially after tuning the drone, it flew well but suddenly the drone started giving me this error
“EKF3 IMU1 MAG1 ground mag anomaly, yaw realigned” and then the drone would yaw a little and fly stably, during long flights the drone sometimes starts oscillating dangerously and comes under control only during landing. The stabilized mode shows no vibrations, the loiter does show a little but it too stops after some time.
i am not able to understand the graphs either, need some help and guidance.

this is my log file btw

2

That is not an error message. That is an info message. And is normal and expected. All ArduCopter do that.

What is not normal are the oscillations, those do not belong there. But their cause is not the information message. Their cause is bad and/or missing tuning.

Use the ArduPilot Methodic Configurator software to fix those oscillations.

1 Like
3

thanks a lot man! will use the configurator! i thought i had something wrong with the hardware or software