I recently upgraded to Copter 4.0.3 on our Cube Black autopilots and set the parameters according:
BRD_TYPE == 3
EK2_ENABLE == 1
EK2_IMU_MASK == 7
EK3_ENABLE == 1
AHRS_EKF_TYPE == 2
INS_USE == 1
INS_USE2 == 1
INS_USE3 == 1
as recommended over on Cubepilots. (I haven’t switched AHRS_EKF_TYPE == 3 due to lack of time for testing / gaining experience, but hope to soon)
I have started to get these warnings:
Not shown in the screen shot is are messages where the EKF3 starts switching compasses. I only have the mag on the here2 as well as compass2 enabled.
What’s weird is that if I power cycle the autopilot, it’ll be just fine for a flight or so but then come back and power cycling will clear it.
Here is the following flight where it was not present. The flights happened one right after the other and no changes to the vehicle other than a battery swap.
Any ideas what’s going on?