Why disable one of the IMUs?
I didnt see a compass detected or calibrated, that’s going to make things tricky.
I should’ve elaborate more about our build…
- We cannot use a compass, so we’re flying GSF.
- We also currently can use only a single IMU due to hardware limitations…
What build options did you choose for the firmware? And why a Beta version?
Seems dumb but I cannot recall exactly what options were selected, I now see an option to view the build log after it is completed and will save this next time.
As for Beta - probably a mistake.
And this didnt make much sense, I’d expect it to be 3 at least.
INS_HNTCH_HMNCS,2
My intention was to reduce CPU but now I see it’s a bitmask rather than a count. will change to 3 (or 1, if it indeed reduces CPU load).
Follow up questions:
Is it possible that Ardupilot priorities flight critical computations and avoids handling serial communication for some periods of time?
That might explain some of the GPS glitches and some telemetry issues we struggle with. The OSD also sometimes is not stable.
Can you think of other parameters that might affect CPU load?
I’ll have a read on this post here to see if there’s anything I can implement in our parameters.