Hi everyone,
I am planning to fly my quadplane indoors. But I keep getting “EKF3 Yaw inconsistent” errors, preventing me from arming the drone. I am using an external compass (HMC5883) with build in GPS, but since I’m flying indoors, I don’t need GPS. The flighcontroller in question is the Matek F405-vtol. I am only planning on flying in qstab and simulated forward flight in FBWA in a wind tunnel.
I suspect this might be due to poor compass calibration or incorrect EKF settings, but after calibrating the compass and accelerometer several times the problem persists. I’m not sure how to properly calibrate the system for an indoor environment.
I get these EKF related errors.
- velocity_horiz_Off
- pos_horriz_abs_Off
- Pos_vert_abs_off
- AHRS: EKF3 Yaw inconsistent 38 deg. Wait o
So, my questions are:
- What do I need to do to fly indoors?
- How can I properly calibrate my compass for indoor use?
I have attached my half-done parameter file. Any help or suggestions would be greatly appreciated! Thanks in advance!
param.param (22.3 KB)
UPDATE:
Tried turning GPS off and changing prearm requirements. Now I only get:
- PreArm: AHRS: not using configured AHRS type
Which I for the life of me do not know how to turn off. I have attached the new param file:
param_new.param (22.2 KB)