Hi,
We made a quadcopter and have been flying for a while. I use two here3 GPS units. I only enable compasses from these GPS units for flights. Both compasses have been calibrated and gave green status indicating the calibration is successfull.
- However I see “EKF3 IMU2 switching to compass 1” and “EKF3 IMU2 switching to compass 0” in the logs. Do I need to be worried about this message? You can see this message in the image below. In one of the flights, this message was notified for every 10 seconds switching between compass 0 and compass 1.
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I also see, events saying EV : GPS Primary changed. Do I need to be worried about this message? You can see this event in the above screenshot.
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When I run Auto Analysis from mission planner, I get “Compass : Fail”. Even after calibration showing green status, this confused us.
Link to the log file is here : Link
Please suggest if there is a need to improve compass health. I know that the drone is currently flown with stock parameters. I usually tune the drone with HNTCH enabled. Any guidance is very much appreciated.