I’ve found a gyroscope drift on the second IMU (z-axis) in the dataflash logs. I am trying to come up with a solution to mitigate the gyroscope drift and I’m trying to understand how the flight controller learns the value of the drift. It seems like the gyroscope is calibrated in the initialization, but is the gyroscope ever recalibrated during flight? And where/how does the flight controller estimate the gyroscope drift bias during flight?
gyro bias is part of the EKF state estimate; assuming you haven’t disabled it