I rebased onto the PR above and did two tests with INS_HNTCH_OPTS set to 6 (originally) and 2 (as advised). Each test contains two flights, one started as early as possible, and a second one. I also performed some throttle excursions to the degree possible with this vehicle and in the test environment available. The logs are below.
The quick summary is:
- NaN logging seems to work as expected.
- “Update at loop rate” seems to have no effect on the 30s notch startup delay.
- Subsequent take-offs have no filter problems, so it seems to be a startup issue.