Hello,
I have several identical drones (cube orange copter) that sometimes have this issue. The first flight goes without problem, but on the second flight 20 min later the yaw estimate on different EKF instances starts to deviate. This leads to toiletbowling and in some cases a switch to land mode. No reboot was done in between flights.
If this behavior happens on the first flight, I would just assume the sensors need calibrating. But I am wondering if there is something more at play, since this happened directly at the start of the second flight.
Since the EKF3 Yaw inconsistent prearm check was not triggered, is there a way to detect this behavior before arming? Are there perhaps some parameters that are incorrect?
D240.param (18.0 KB)
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