Thank you for your time.
It’s mounted perfectly straight forward, not tilted or anything else. It’s mounting error is within a one degree.
I will have to give that a try.
I will do that motor calibration later to be sure it’s not interference. But by looking several logs, I’m not able to see any severe interference on the magnetometer. I don’t see that motor outputs (current) would affect magnetometer. I’m only seeing differences on lifting up out off ground and doing normal maneuvers. The wiring is designed, so that it has minimal magnetic field and is not routed next to important sensors. The high current wires are twisted.
On this image I have plotted the primary magnetometers X,Y,Z axes and RMS of total magnetic fields and throttle output.
There seems to be no severe changes on the magnetometer data. In my opinion this looks normal data. Magnetometer values changes slowly when lifting off the ground, which is normal. Throttle output doesn’t seems to affect the “total” RMS value.
You are correct that it does state its only affecting if its saved or not. That compass_learn “2” is more preferred learning method, if EKF has normally good quality estimations. The “1” setting “internal-learning” is not clear to me either.