Those paths look very good apart from that glitch.
I couldnt see what caused it, though many others may be able to.
I ran magfit over that log and your compass settings are pretty close, you could adjust them to these if you want to be a bit more exact:
I’ve had several lane switch occurrences in the past couple of years.
I’ve never been able to discover the root cause of any of them. I suspect some “glitch” was the cause for each occurrence.
It appears to me this is the idea behind the creation of EKF3 and the ability to lane switch. As a “glitch” may happen at any time - the ability to lane switch provides a safety net.
Where possible, I use a telemetry connection to Mission Planner as part of my ground control - and I bring up both the EKF and VIBE displays so I can monitor them for problems as the mission progresses.
My hope is this will allow me to tell the difference from a “glitch” and a “failure” resulting in a lane switch - by watching for steady rises in the displayed innovations.
To date - I’ve never observed such a steady rise in EKF3 innovations - so all of my lane switches appear to be “glitches.” But I investigate each one anyway.
If I ever observe a steady rise in either EKF or VIBE in the displays, I’d hope to abort the mission before a lane switch occurs.
I cant easily see why there’s lane switches, but I suspect it’s related to vibrations (which are within limits but borderline) and tuning. There’s some attitude oscillations and a bit more noise in the motor outputs than desirable.
Update to latest stable firmware since there is important fixes for Cube Orange.
Before improvements I wouldnt be doing such long flights or Auto missions until you’ve finished sorting out the basics, like some extra attitude control tuning.
Also it looks like you’ve got 3 GPS units which is a bit pointless since only two are used.
Keep the best two, it looks like only one has a compass, so keep that one.
Check the compasses are all present and accounted for.
Start with these, some are only a tiny shift from what you had, but could help
FENCE_ENABLE,1 // check other fence settings
LOG_BITMASK,145406 // cut back the logging a bit
MOT_THST_EXPO,0.4 // you had instability at low throttle, descents
Do a test flight in AltHold with plenty of yaw, circles and a figure-8 if you can. It only needs to be a short flight. Then we can run that log through magfit to really fix up the compass parameters.
PIDs look a bit odd, like D terms are too high. It would be good to do Autotune one axis at a time.
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