Finding the root cause of EKF3 lane switch due to yaw innovations

ArduCopter Copter 4.3
10

Yes, apart from some history of people using 0.4 successfully on other similar builds I’ve observed, you had some tell-tale signs in the log. Like instability as soon as you start to descend and the rule-of-thumb for setting and testing MOT_THST_EXPO is

  • set too high you can see instability at low throttle
  • set too low you can see instability at high throttle

Also if you really want to check that expo, and it would be a valuable exercise for all of us - try this thrust expo script:
https://discuss.ardupilot.org/t/automatic-mot-thst-expo-estimation-lua-script

I was just being a bit too picky with suggesting INS_HNTCH_FREQ,33 wasnt I? :slight_smile:

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