while flying i keep getting EKF3 lane switching .
what is the reason?
How are we supposed to guess what the reason is, if you do not post a
.bin log file?
sorry for not attached log…here is the log
You will note that those occurrences coincide with a Yaw Reset so it could be a compass interference issue. There seems to be a bit of coupling between throttle and mag field.
Increase the distance from the compasses to the rest of the electronics. In other words use longer GPS masts.